This paper describes a novel EDLC regenerative braking control scheme of electric powered wheelchairs for efficient driving planning. Electric powered wheelchairs which generate the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the energy efficiency has to be further improved because it is driven only by the battery energy. This study proposes a capacitor regenerative braking circuit and stop velocity control scheme with jerk limitation. The decelerating velocity reference is designed to enlarge the regenerative energy. Some experiments are performed to verify the effectiveness of the proposed system.