Abstract
Labor shortage at the site of nursing care is a serious problem in Japan. Autonomous driving technique of wheelchair as a solution of this problem has been studied. However, the cost of that wheel chair will be expensive due to use high performance sensors and stereo camera. Under these circumstances, a control strategy of wheelchairs platooning has been studied in this research to solve the labor shortage problem. To realize the automated platooning of wheelchairs, estimation and control technique of the wheelchair position and angle are required. And that, expensive sensor devices such as stereo camera were not used in this automated platooning wheelchair due to suppress the increase in cost. Modeling and driving simulation of the robot equipped with two independent driving wheels considered as a wheelchair is described in this paper.
