Abstract
This study developed a personal mobility scooter with autonomous driving and safety functions. The scooter can recognize indoor and outdoor environmental conditions by applying various sensor systems similar to semi-autonomous vehicles. The addition of an autonomous driving function ensures user convenience. The mobility scooter was developed to provide user safety by preventing collisions and rollover accidents. First, the system configuration and functions of the personal mobility scooter have been introduced, followed by the application of algorithms to implement each function. In terms of convenience, the main features of personal mobility scooters include indoor autonomous driving, outdoor semi-autonomous driving, and guardian-following driving. In terms of safety, the salient features are collision prevention and rollover prevention. The functions proposed here were incorporated in an actual mobility scooter, and its efficacy was verified through experiments.
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