Abstract
This paper presents the design and implementation of a personal mobility vehicle. The safe and intelligent kickboard (Sikick) is a three-wheeled kickboard that guarantees stable standing for autonomous driving by self-riding. One wheel was attached to the front and two were connected to the rear. The vehicle ensured safety by preventing two people onboard simultaneously. Sensors such as a camera and a LiDAR were used to detect potholes on the ground. Moreover, sensor processing and Sikick control were performed using ROS. For recognizing potholes on the ground, a camera and a 2D LiDAR were used. For a static case, images of potholes were learned to detect potholes on the ground. System implementation enabled it to move autonomously using RTK GPS.
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