抄録
We have developed a personal mobility vehicle (PMV), called RT-Mover P-type2, which shows adequate mobility performance on a rough terrain. Ptype2 movements is base on internal sensor information. However, only internal sensor information can't detect for down-step and ditch terrain. So, I consideration method witch detect for down-step and ditch terrain using external sensor information and movement. In this paper, pay attention to from inside necessity external sensor, and practice verified through experiment.
