Development of omnidirectional vehicle on water (O‐VOW) using information of inclination of the vehicle

A lot of unique transportation devices on the ground have been developed. On the other hand, on water, there are a few personal devices, which sometimes need paddling to get around. If the personal mobility that make it possible to move intuitively and quickly on water is realized, it will be useful for survey of rivers and ponds, rescue, amusement and so on. Therefore, in this study, an omnidirectional vehicle on water (O‐VOW) is proposed which is controlled according to information of the inclination based on a rider's balance.

A prototype of O‐VOW consists of a boarding part, three thrusters and a control unit. The control unit includes a three‐axes accelerometer, a microcomputer and batteries. The inclination of O‐VOW is calculated from the information given by the accelerometer. The control rule for O‐VOW is described in matrix form and is implemented into the microcomputer. The microcomputer commands three thrusters according to the inclination. The preliminary and riding tests are conducted on water.

The authors have developed a prototype of O‐VOW whose propulsion is controlled according to the inclination. The control scheme for O‐VOW was described in matrix form. The preliminary and riding tests are conducted on water and the effectiveness of O‐VOW was experimentally shown. O‐VOW can run, stop and adjust the course in all directions on water by the rider's balance.

In this paper, a novel transportation system that uses intuitive control on water has been developed. Since it moves in all directions, the rider can operate it even at a narrow channel without turning. It will assist in human activities such as survey, rescue, amusement in rivers, lakes, swimming pools and at sea.