Omnidirectional wheelchair is easy to steer at various narrow places. But this sort of wheelchair has not become popular yet and does not have familiarity to wheelchair users. In order to get better operation, sensuous training is required for the interface of the omnidirectional wheelchair operated with only a joystick. In this paper, we developed the intuitive interface which used a touch panel and camera. In addition, by the low-cost infrared sensor arranged in the four corners of a wheelchair aimed at the prevention from a collision in the run along a narrow path or a wall. By combining these two systems, we developed a low-cost omnidiretional wheelchair which can be controlled easy and safe.