Nowadays, when many of the visually impaired people go out, they are using white cane or a guide dog. However, these walking support tools must often rely on the user's senses and free life of the visually impaired people are not yet guaranteed completely. Therefore, in recent years, the development of the walking support device with electronics have been actively carried out. But it is not popular yet in general. One of the reasons is that navigation type walking support device is likely to be heavy equipment, hence the visually impaired people don't use them with ease. For such reason, we conducted development and experiment of the walking support device that enable that they go out with ease and are light by being equipped with minimum of obstacle detection sensors and omni wheel in shape of cane type in this study. This device unites the advantages of both electronic white cane and guide dog robot.