Abstract
This paper suggests control system for mobile robot which is used to assist wheelchair travelling in care and medical facilities. The proposed robot equips visual function, grasping function and mobile function in order to realize the following actions; (1) The action that can recognize the obstacle and normal human and avoid them. (2) The action that can find out abnormal human who needs wheelchair and provide it for him. For the purpose of putting these actions into practice, potential method based on environmental information (outline form of obstacle and human skeleton) obtained by visual sensor is proposed. As a result of experiment, avoidance behavior above (1) can be achieved if a human does not put his own hand up, and also assistance behavior above (2) can be achieved if a human puts his own hand up.
