Method of controlling a vehicle to make a combination of arbitra

Details Method of controlling a vehicle to make a combination of arbitra Method of controlling a vehicle to make a combination of arbitra

1995-11-06

1998-02-17

Nguyen, Tan Q.

Boots, shoes, and leggings

364424028, 364424051, 180248, 180249, 180411, 180 662, 31856819, G06F16500, B62D 6112

Patent

active

057197628

ABSTRACT:
A method of controlling a rotary vehicle to navigate a heading using a conation of translational and rotational motions by a plurality of driving-steering wheels controlling the motion in three degrees of freedom for a manned or unmanned vehicle having at least two drive-steering wheels, wherein a drive-steering wheel is a wheel with its heading orientation and driving velocity positively controlled, wherein a global motion is a vehicle trajectory with vehicle orientation from the initial position (with orientation) to a final destination (with orientation), which comprises comparing a global motion selected to the vehicle's body position and orientation to compute a motion instruction in three degrees of freedom, the acceleration, path of curvature, and rotation rate, collectively known as the motion command then converting the motion command into a translational speed, a translational direction, and a rotational rate and converting the translational speed, the translational direction and the rotational rate into the direction and driving speed for each independent drive-steering wheel.

REFERENCES:
patent: 5097329 (1992-03-01), Hassegawa
patent: 5186270 (1993-02-01), West
patent: 5213176 (1993-05-01), Oroku et al.
patent: 5307419 (1994-04-01), Tsujino et al.

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