Development and control of a personal robotic vehicle for amusement

Abstract

This paper presents development and control of a personal robotic vehicle for entertainment. The vehicle is designed to carry passengers in urban areas, especially for a touring purpose. The vehicle has a wheel-driven in all texts mobile robot structure such that motions are generated by velocities of two wheels. A physical vehicle system is developed and tested for driving. Although the vehicle is designed to have two driving modes, a mobile robot mode and a balancing mode, here the mobile robot mode is considered only. Experimental studies of driving the vehicle in indoor environment are performed to confirm the feasibility of the personal future vehicle in the urban area. © 2012 Springer-Verlag.