Because of the rapid growth of the elderly sector of Japanese society, the development of an automated wheelchair is increasingly necessary. In order to develop a wheelchair for elderly people, an intelligent system is necessary to assist in safe driving. This paper describes the development of an intelligent wheelchair which can autonomously assist in outdoor multiple-waypoint driving. In order to realize such functions, we employ differential GPS and INS sensors in conjunction with a laser rangefinder. To confirm the validity of proposed method, the system was tested in outdoor experiments.