抄録
Recently, welfare vehicle (WV) is attracted attention for patients and elders. WV with free casters can not be driven well when the road condition is rugged in outdoor. The skid steer mechanism has been focused to realized compact WV. The skid steer vehicle is well known for its high traveling ability in off-road. However, The vehicle has disadvantage that advanced maneuvering techniques are needed because steering motion is rugged by road condition. In this paper, we propose a steering assistance control system using Modeling Error Compensator with extended Kalman filter that is robust to the sensor noise. The effectiveness of the proposed control system is verified by the driving simulation including the variation of road surface condition.
