Abstract
Vehicles with active-caster wheels which are a kind of omnidirectional mechanism using normal pneumatic tires can move arbitrary directions immediately and can move freely from noise and vibrations. The control of vehicles with active casters, however, is not enough studied. This study aims to establish a control method of personal vehicles with active casters with respect to high safety and attractions of amusement park, using independent drive and steering of active caster vehicles and dynamic model of vehicle. This paper formulates a model of vehicles. Movements of usual nonholonomic vehicles can be imitated by using an omnidirectional vehicle with active caster wheels.
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