本論文主要在發展輕型個人載具（以下稱子車）與公共載具（以下稱母車）追蹤之控制系統。本研究在子車、母車皆裝設感測器，用以感測子車在追蹤母車時兩者間距及方位，並發展智慧型控制器用以控制子車相對母車的速度，使子車與目標物不會發生碰撞。為了達成上述之功能，本論文開發子車之智慧型控制器與測距及方位感測器系統。
子車的動態模型為一個車輪倒單擺(Wheeled inverted pendulum)模型及穩定車體兩種，本研究建立數學及實體的子車模型為我們後續的研究提供一個完整的實驗平台，並利用滑動模式設計控制器，藉以控制車輪倒單擺系統的平衡。而穩定車體最主要的功能是驗證本研究所設計的追蹤控制器，及紅外線感測系統的可行性。本研究設計子車用的紅外線感測器，並找出紅外線感測器的架設條件，完成紅外線測距系統。並將上述的穩定車體、紅外線測距系統做一個整合。

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