Abstract
Indoor electric cart STAVi had been developed to reduce the burden of the moving for elderly people in the progress of the aging population. The STAVi has free caster as real wheel. So, it is difficult to control by itself. In this study, we are using SLAM, Localization and Mapping at same time, to control the moving of the STAVi. There are two types of User Assist Control and Autonomous Moving Control. In addition, we construct Collision Avoidance System with danger map.
