Maneuverability evaluation of skid steer welfare vehicle for robust assistance control with model error compensator

Recently, electrical welfare vehicles with free casters are widely used by patients and elders indoors. However, welfare vehicles may not be able to move well on gravel or dirty roads as seen in suburbs. In order to expand driving area, the skid steer mechanism is focused on. The skid steer vehicle (SSV) has been used for its high traveling ability on rough road. However, the SSV has disadvantage that the driving assistance is required because its steering is highly affected by road conditions. In this paper, a driving assistance control of SSV using the model error compensator and state estimator, i.e. EKF and cornering power estimator is proposed. The maneuverability is evaluated by correlation coefficient of joystick operation comparing asphalt road and gravel road.