2204 A Transportation System Using Personal Mobility Vehicles with Spacing Control and Trajectory Tracking Control

Abstract

Recently, a Personal Mobility Vehicle (PMV) is produced as a new transportation vehicle. In Japan, however, it is not permitted to ride PMV on public road. The authors propose the new transportation system using PMV as automatic driving vehicle, adapting a path following control and a spacing control for platoon ing. This paper introduces the PMV's kinematic model which is equal to non-holonomic mobile robot and examines the performance through the numerical simulation and experiment. It is shown the proposed system feasible.