Outdoor Localization and Path Planning for Repositioning an Autonomous Electric Scooter

This paper describes the development of a self-driving e-scooter with the ability to safely travel without a rider along a pre-planned route using automated onboard control. Ride-share electric scooters are an alternative to walking or driving, but they are often ineffective or a nuisance due to their placement after usage. An autonomous driving framework specific to an e-scooter, including path planning and state estimation, enables short-distance repositioning and parking. This paper describes the framework's hardware and software components along with design choices and pitfalls. We also present results of real-world autonomous navigation, including the effectiveness of our localization methods.