A personal rapid transit (PRT) system comprising a very economic triple rail topology for bi-directional urban personal transport. All the ramps are implemented on the one side of the tracks matching the narrow urban spaces. To achieve fast speed, stable direction changes, and a non-compromised passenger security, the ramps are implemented as parallel lines to the corresponding tracks, and the vehicles do not use any wheel steering. Instead, a landing wheel gear is implemented. The vehicle's center of mass is constantly kept in one plane with the guideways. In case of emergencies, a special “anti-fall down” security system holds the vehicle on the rails. The vehicles make turns using the highly compact Direction Change Connector. The PRT control system is implemented as three layer hierarchical system of fault-tolerant processor nodes, and utilizes two channel wireless communications between the layers.