抄録
We propose the guidance control method to let a wheelchair follow an assistance dog by detecting relative velocity and angle between a wheelchair and an assistance dog. In this guidance control method, electric wheelchair employs the guidance unit that is composed of a long lead and a winder on the tip of left armrest. The tip of the lead is connected with the harness worn to an assistance dog. The length and the direction angle of the lead are detected by two potentiometers in the guidance unit Both translational signal and rotational signals to control the electric wheelchair are generated by these two detected information. In this report, we described an opinion about an adjustment of the control system, and the improving method of the rotational mobility of electric wheelchair by reducing translational velocity as the direction angle increase.
