Mode change algorithm for RT-Mover PType WA from four-wheel steering mode to two-wheel differential drive mode.

Abstract

Personal Mobility Vehicle RT-Mover PType WA (P-WA) can move on rough terrain (including a few step-stairs) and always keep its seat horizontal in spite of the simplicity of mechanism. P-WA has two modes, Wheel mode and Leg mode, which can be used according to the driving environment. In this paper, we have developed a mode change algorithm for P-WA from four-wheel steering mode to two-wheel differential drive mode by using an auxiliary wheel in order to improve the turning performance.