Although different modifications have been added to enhance the quality of wheelchairs, the process of transferring in and out of a wheelchair can be exhausting and harmful: caregivers face a higher risk of injury when aiding their patients in doing so, and any slight change in lifting can cause severe injury for the patient. Other human-dependent robots for hospital use have been designed, but not independent or for home use. This paper outlines the simulation of an autonomous robot that can safely lift and carry a physically disabled person at home without depending on or risking the health of the caregiver. Upon the person requesting assistance by raising their hand, the robot travels to them. The robot determines the safest locations to place its arms in order to lift the person before carrying them to their destination. This autonomous robot thus serves as a personal assistant to provide wheelchair users a more comfortable transfer in and out of a wheelchair and throughout the house.