Osamu Matsumoto Kiyoshi Komoriya Tsutomu Hatase Hideki Nishimura Autonomous Traveling Control of the "TAO Aicle" Intelligent Wheelchair. 4322-4327 2006 IROS http://dx.doi.org/10.1109/IROS.2006.281966 conf/iros/2006 db/conf/iros/iros2006.html#MatsumotoKHN06