Abstract
This paper describes the research or development of 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 examination of the control technology and the driving mode towards new moving support service creation. Moreover, the following control which 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. is proposed.
