Motor vehicles – With means for controlling operation responsive to...
Patent
1992-11-10
1995-10-10
Hill, Mitchell J.
Motor vehicles
With means for controlling operation responsive to...
180 648, 180 82, 180 946, 180 22, 180 791, B60K 1734, B62D 600, B62D 702
Patent
active
054563321
ABSTRACT:
A multi-degree-of-freedom vehicle employs a compliant linkage to accommodate the need for a variation in the distance between drive wheels or drive systems which are independently steerable and drivable. The subject vehicle is provided with rotary encodes to provide signals representative of the orientation of the steering pivot associated with each such drive wheel or system, and a linear encoder which issues a signal representative of the fluctuations in the distance between the drive elements. The wheels of the vehicle are steered and driven in response to the linear encoder signal, there being provided a controller system for minimizing the fluctuations in the distance. The controller system is a software implementation of a plurality of controllers, operating at the chassis level and at the vehicle level. A trajectory interpolator receives x-displacement, y-displacement, and .theta.-displacement signals and produces to the vehicle level controller trajectory signals corresponding to interpolated control signals. The x-displacement, y-displacement, and .theta.-displacement signals are received from a human operator, via a manipulable joy stick.
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Hill Mitchell J.
The Board of Regents of the University of Michigan
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