A powered balancing mobility device comprising: a powerbase assembly configured to process movement commands for the mobility device ; at least one cluster assembly operably coupled to the powerbase assembly, the at least one cluster assembly being operably coupled to a plurality of wheels, the plurality of wheels being configured to support the powerbase assembly, the plurality of wheels and the at least one cluster assembly being configured to move the mobility device based at least on the processed movement commands; an active stabilization processor configured to estimate the center of gravity of the mobility device , the active stabilization processor being configured to estimate at least one value associated with the mobility device required to maintain balance of the mobility device based on the estimated center of gravity, and an anti-tipping controller configured to stabilize the mobility device based on a stabilization factor, the anti-tipping controller being configured to execute commands including measuring a pitch angle of the mobility device , measuring a pitch rate of the mobility device , accessing a distance travelled by the mobility device over a pre-selected period, computing a stabilization metric based on the distance travelled and the measured pitch angle, computing the stabilization factor based on the measured pitch angle and the measured pitch rate, determining movement commands information required to compute the movement commands, and computing the movement commands based on the movement command information and the stabilization factor if the stabilization metric indicates that stabilization is required, wherein a powerbase processor of the powered balancing mobility device is configured to actively balance the mobility device on at least two of the plurality of wheels based at least on the at least one value. a powerbase assembly configured to process movement commands for the mobility device ; at least one cluster assembly operably coupled to the powerbase assembly, the at least one cluster assembly being operably coupled to a plurality of wheels, the plurality of wheels being configured to support the powerbase assembly, the plurality of wheels and the at least one cluster assembly being configured to move the mobility device based at least on the processed movement commands; an active stabilization processor configured to estimate the center of gravity of the mobility device , the active stabilization processor being configured to estimate at least one value associated with the mobility device required to maintain balance of the mobility device based on the estimated center of gravity, and an anti-tipping controller configured to stabilize the mobility device based on a stabilization factor, the anti-tipping controller being configured to execute commands including measuring a pitch angle of the mobility device , measuring a pitch rate of the mobility device , accessing a distance travelled by the mobility device over a pre-selected period, computing a stabilization metric based on the distance travelled and the measured pitch angle, computing the stabilization factor based on the measured pitch angle and the measured pitch rate, determining movement commands information required to compute the movement commands, and computing the movement commands based on the movement command information and the stabilization factor if the stabilization metric indicates that stabilization is required, wherein a powerbase processor of the powered balancing mobility device is configured to actively balance the mobility device on at least two of the plurality of wheels based at least on the at least one value. <EOS>