A Staggered Design of E-Scooters for Autonomous Deployment and Collection

This paper presents an innovative approach to enhance the automated collection and deployment of e-scooters. This is achieved through the introduction of a novel staggered configuration for paired e-scooters, the development of a new steering mechanism, and the creation of a differential driving scheme. The study starts by exploring three distinct paired e-scooter designs and subsequently identifies the staggered configuration as the most feasible choice. To further substantiate this discovery and establish a foundation for future autonomous driving algorithms, the paper introduces the Staggered Ackermann Steering Geometry along with the formulas for calculating precise steering angles for the left and right staggered front wheels. Additionally, a novel differential driving scheme for the two staggered rear wheels is developed to enhance overall functionality. The proposed steering and driving algorithms undergo validation through experimental tests utilizing a dedicated test cart. The results confirm the potential for more efficient and stable autonomous driving of e-scooter pairs, providing a promising solution for the future of urban mobility.