Speed Control for Following Stability of Followed Type Wheelchair

Abstract

This paper describes the research or development of a robotic wheelchair which performs following driving to preceding wheelchair. This research aims at a user's safety, improvement in convenience, and reduction of an operation load. This paper describes construction of the basic system which equips sensing and the control facility for realizing stability following, and an examination of the control technology and the driving mode towards new moving support service creation. Moreover, the following control whether it is stable and comfortable to ride in, keeping a constant distance, and can respond to change of a road surface situation, user weight and battery consumption, etc. are proposed.筆者らは利用者の安全性・利便性向上，操作負担の低減などを図ることを目的として，追従型の車いすの研究開発を行っている．本報告では，利用者重量や電池容量低下等の変化に対して一定の距離を保ちつつ，安定かつ乗り心地を考慮した追従制御と，柔軟なフォーメーションを形成する追従制御方法などについて述べる．