You can give flyball a try if someone around you offers classes. You should realize though that flyball is a team sport so once you get to the competitive level, traveling with the team is pretty much expected. Depending on where you are located there are some pretty active clubs in PA that host tournaments frequently. I'd look for a team that only travels within your region.
Outside of classes, there is not a whole lot of opportunity to play the game without traveling. Most of the time classes at a facility are actually offered by a flyball club that actively competes and are holding classes in order to build their teams. Dog/handler teams that show an aptitude for the sport and are looking to play beyond classes usually matriculate into the team practices with the intent to compete (which includes travel).
If you truly don't want to travel, stick to the individual sports like nosework, agility, obedience, and rally. Then look for facilities close to you that host sanctioned events. It might take you longer to title your dog because you are only attending events in your area, but I know people who've titled their dogs without traveling more than a couple of hours. Most training facilities that host events often will host "fun matches" or "show and gos" or drop-in "run-throughs". Those are non-sanctioned events that don't earn you points to your titles but still give you the sense of "competing".