The Development of A Personal Mobility Vehicle that can be Transformed Mutually between Front/Rear Steering Mode and Differential Wheeled Mode

Abstract

We propose the RT-Mover PType WA Mk-II(P-WA), which is a personal mobility vehicle that can be transformed mutually between front/rear steering mode and differential wheeled mode. The advantage of P-WA in front/rear steering mode is that it can move on rough terrain stably. However, when we consider the issue of “limited steering angle”, the turning performance in this mode will be unsatisfactory. Therefore, we developed a switching algorithm of P-WA. It can optimize the steering performance by changing between front/rear steering mode and differential wheel mode. We have evaluated the developed switching algorithm and differential wheel mode through experiments.