Omnidirectional vehicle and method of controlling the same

Details Omnidirectional vehicle and method of controlling the same Omnidirectional vehicle and method of controlling the same

1995-12-11

1999-07-20

Hurley, Kevin

Motor vehicles

Having at least one wheel both driven and steerable

Steerable wheel has exclusive axis of pivot

180402, 180 23, 180 628, B62D 708

Patent

active

059245123

ABSTRACT:
An omnidirectional vehicle supports the steering shaft M of the driving wheel 1 serving also as a steering wheel through the shaft stub 8 on the body 7 at the point displaced by a distance S horizontally from the ground contact point of the driving wheel 1, turns the driving wheel 1 by the motor 5 and rotates the steering shaft M by the motor 12 to translate the body 7 back and forth as well as sidewise as desired. The vehicle is controlled to move on the reference trajectory based on the ratio of the angular velocity of the driving wheel 1 and the angular velocity of the steering shaft M. The ratio is calculated based on the position and orientation of the body 7 and the steering angle of the steering shaft M, detected by the sensors, and the reference trajectory of the vehicle.

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