抄録
Training and activity environment of a care dog were improved by Law Concerning Service Dogs for the disabled, and it contributes to improvement in the quality of a life for the disabled. One of the support which a service dog provides, there's a running support with towing a wheelchair in case which is difficult to drive for operator oneself. Since much burden follows on the back of a service dog at this time, the protection, which mitigates this and promotes long-term activity, is required. By detecting each relative velocity and angle between a service dog and a wheelchair, we propose the Guidance control method of making a wheelchair follow a service dog. In this paper, we describe an opinion about an adjustment of the control system by some results of simulated experiment.
