電動車椅子の半自動走行制御システムの構築

抄録

In order to realize semiautomatic driving system of an electric wheelchair, a dynamic window approach is used as a path control. In addition, our system input to each right and left wheel controller for desired velocity is set. We conducted a simulation in an environment where obstacles exist using this method. As a result of the experiment, it is possible that the electric wheelchair reach a target point while avoiding the obstacle.