ロバストな操縦支援制御によるスキッドステア型福祉車両の走行性能の改善

抄録

Recently, welfare vehicles are widely used by patients and elders. Many welfare vehicles are restricted to drive indoor or on a flat road. The skid steer mechanism has been focused to realized compact welfare vehicles. 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 varied by road condition. In this paper, we propose a steering assistance control system using Modeling Error Compensator with extended Kalman filter and estimation of cornering power. The effectiveness of the proposed control system is verified by the outdoor traveling experiment.