PROBLEM TO BE SOLVED: To solve the problem with an omni-directional movement type electric vehicle performing obstacle avoidance movement, wherein an operator is caused to have a strong sense of discomfort or uneasiness because it moves in a direction different from an operated direction.SOLUTION: The omni-directional movement type electric vehicle includes: a vehicle body part 14； an operation input part 13 provided at the vehicle body part 14, for detecting an operation direction and an operation amount operated by an operator； an obstacle sensor 18 detecting the distance and the direction to the obstacle； an operating force estimation part 17 calculating operating force on the basis of the operation direction and the operation amount detected by the operation input part； a virtual repulsive force calculation part 19 calculating virtual repulsive force inversely proportional to the distance to the obstacle detected by the obstacle sensor 18 and acting in the opposite direction relative to the obstacle； a resultant force calculation part 20 calculating resultant force by the sum of the operating force and the virtual repulsive force； and a control part 21 controlling the vehicle body part 14 so that it moves to the direction of the resultant force while rotating the vehicle body part from the direction of the operating force to the direction of the resultant force.【課題】障害物回避動作を行う全方向移動型電動車両は、操作した方向と異なる方向に動作するため、操作者に対し強い違和感や不安感を抱かせるという問題がある。【解決手段】車体部１４と、操作者が操作した操作方向および操作量を検出する車体部１４に設けた操作入力部１３と、障害物までの距離および方向を検出する障害物センサ１８と、操作入力部において検出される操作方向および操作量により操作力を算出する操作力推測部１７と、障害物センサ１８が検出した障害物までの距離に反比例し、かつ、障害物と反対方向に作用する仮想斥力を算出する仮想斥力算出部１９と、操作力および仮想斥力の和より合力を算出する合力算出部２０と、車体部１４を操作力の方向から合力の方向へ回転させながら、合力の方向へ移動するよう制御する制御部２１とを備えた構成である。【選択図】図１
