In this research, we are developing a novel intelligent wheelchair based on the passive robotics. In this paper, we propose a driving assistance system according to the slope angle in environment. Since the road gradient there are various, travel control can respond to each is important. Important points are compensates the fact that with a tilt angle sensor, to measure the angle of the variable slope, and by controlling the servo brake, the effect of gravity varies depending angles, an important point is the driving support algorithm. The effectiveness of our proposed system is verified by the experiments with our wheelchair.
