公共與個人載具系統以綠能觀念為出發點，其囊括了不僅僅是節能減碳的環保意識，更可從消費者的角度來深入個人載具在使用上的方便性及多元性，而倒單擺系統的輕巧、靈活和操作簡便等特性使其相較於一般腳踏車來說無非是提升消費意願的良好選項之一。本研究優先以基礎兩輪倒單擺機器人作為個人載具研究平台，首要目的為達成系統站立姿態的平衡表現，並利用PIC32微控制核心實現整合硬體結構、馬達裝置、感測元件以及線性最佳化演算法之系統來完成原地平衡、轉向以及前後移動之控制目的。此外，公共與個人載具間的通訊連結部分，本研究整合紅外線感測機制建構發射源與接收端，並藉此量測二車相對位置，再配合兩輪倒單擺系統的轉向以及前後移動功能來達成其在平衡姿態下的定位控制。

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