Device for steering a steerable wheeled vehicle

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180168, 318587, G05B 1936, G08G 900

Patent

active

045300577

ABSTRACT:
In steering a wheeled vehicle along a path marked on the supporting surface, a single linear detector is used which is rigidly mounted in the vehicle perpendicular to the principal direction of movement of the vehicle. As the vehicle moves, the position of the path in the transverse field of view of the detector is measured repeatedly, in the form of lateral deviations .DELTA.x, simultaneously with the distances s.sub.1, s.sub.2 . . . in the direction of movement between successive lateral deviation measurements. The deviation between the direction of the path marked and the path actually travelled by the vehicle is thus obtained, in the form of a lateral deviation .DELTA.x, and an attitude deviation .phi.=(.DELTA.x.sub.2 -.DELTA.x.sub.1)/s.sub.1. These two deviation variables will make possible corrective steering of the vehicle to the marked path.

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