PROBLEM TO BE SOLVED: To provide a walking support device capable of safely leading a pedestrian having difficulty in autonomous walking.SOLUTION: A traveling device includes: a self-traveling body 2 which has an operation input part 17 for inputting a moving direction, also has a traveling part and is capable of traveling in an arbitrary direction travel control means 51 for controlling the travel of the self-traveling body on the basis of the moving direction inputted in the operation input part obstacle detection means 52 for detecting a position of an obstacle around the self-traveling body obstacle contact determination means 53 for determining the presence/absence of contact of the self-traveling body with the obstacle on the basis of information on the position of the obstacle detected by the obstacle detection means and a command value of the travel control means and traveling direction correction means 54 for correcting a traveling direction of the travel control means on the basis of the determination result of the obstacle contact determination means.COPYRIGHT: (C)2013,JPO&INPIT【課題】自律歩行が困難な歩行者を安全に先導することができる歩行支援装置を提供する。【解決手段】移動方向を入力する操作入力部17を有するとともに、走行部を有して任意の方向に走行可能な自走体2と、前記操作入力部で入力された移動方向に基づいて前記自走体の走行を制御する走行制御手段51と、前記自走体の周囲の障害物の位置を検出する障害物検出手段52と、前記障害物検出手段で検出した障害物の位置情報と前記走行制御手段の指令値とに基づいて自走体の前記障害物への接触の有無を判定する障害物接触判定手段53と、該障害物接触判定手段の判定結果に基づいて前記走行制御手段の走行方向を補正する走行方向補正手段54とを備えている。【選択図】図7
