Abstract
This paper presents a driving-support control for a smart electric powered wheelchair, so that the wheelchair can follow a preceding person(guide); it can move along the footprint of the guide while keeping a constant distance between the wheelchair and the guide. In the guide following, a walking guide is found from laser scan images of an in-vehicle laser range sensor, and the footprint of the guide is estimated. Based on the footprint, the target path of the wheelchair is generated, and the linear and turning velocities of the wheelchair are controlled. The experimental result validated the feasibility of the control method.
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