Guided control of a transporter

A method for conducting a riderless balancing transporter having two laterally disposed wheels and a motorized drive for dynamically stabilizing the transporter in balanced operation, the balancing transporter having a user input, the method comprising:

• a. receiving an input via the user input;
• b. generating a control signal corresponding to the input received;
• and
• c. applying a torque to the laterally disposed wheels by means of the motorized drive so as propel the balancing transporter on the basis of at least the control signal;
• wherein the step of generating a control signal corresponding to the signal received includes conditioning the input received;
• and
• wherein conditioning the input includes limiting the effect of user input to a specified range of control signals.

A method for conducting a riderless balancing transporter having two laterally disposed wheels and a motorized drive for dynamically stabilizing the transporter in balanced operation, the balancing transporter having a user input, the method comprising:

• a. receiving an input via the user input;
• b. generating a control signal corresponding to the input received;
• and
• c. applying a torque to the laterally disposed wheels by means of the motorized drive so as propel the balancing transporter on the basis of at least the control signal;
• wherein the step of generating a control signal corresponding to the signal received includes conditioning the input received;
• and
• wherein conditioning the input includes limiting the slew rate of change of control signals in response to user input.

A method for conducting a riderless balancing transporter having two laterally disposed wheels and a motorized drive for dynamically stabilizing the transporter in balanced operation, the balancing transporter having a user input, the method comprising:

• a. receiving an input via the user input;
• b. generating a control signal corresponding to the input received;
• c. applying a torque to the laterally disposed wheels by means of the motorized drive so as propel the balancing transporter on the basis of at least the control signal;
• and
• d. decelerating the transporter after a specified distance, with respect to a fiducial reference, of riderless travel;
• wherein the step of applying a torque employs a control algorithm substantially identical to that which maintains balance of the transporter with an onboard rider.

A method for conducting a riderless balancing transporter having two laterally disposed wheels and a motorized drive for dynamically stabilizing the transporter in balanced operation, the balancing transporter having a user input, the method comprising:

• a. receiving an input via the user input;
• b. generating a control signal corresponding to the input received;
• c. applying a torque to the laterally disposed wheels by means of the motorized drive so as propel the balancing transporter on the basis of at least the control signal;
• and
• d. limiting a transporter velocity based upon sensing riderless locomotion;
• wherein the step of applying a torque employs a control algorithm substantially identical to that which maintains balance of the transporter with an onboard rider.