抄録
Crossing slopes, electric wheelchairs deviate from their straight course under the influence of gravity. In order to keep traveling directions of the electric wheelchairs on slopes, the users must frequently operate input devices. This is a severe problem for the users who operate electric wheelchairs by switches. The switching devices are less smooth than the joysticks on veering. This research aims at reducing the operation strain on the slopes, and presents a system that guides the electric wheelchairs to run straight-ahead by only one operation. The proposed system has a feedforward controller and a feedback controller on the basis of posture angles of the electric wheelchairs. We mounted a prototype system on a ready-made electric wheelchair, and made a learning experiment on the system in a simulated environment.
