OMNI-DIRECTIONAL VEHICLE CONTROLLER

摘要

Disclosed is an omni-directional vehicle controller which makes it possible to increase the straight-line stability of the vehicle. During the period from the start of the implementation of velocity component attenuation processing for continuously or intermittently decelerating the magnitude of a target velocity vector ?Vb_aim at a predetermined representative point of a vehicle (1) comprising a movement actuating portion (5) that allows omni-directional movement of the vehicle, including movement in a first direction and a second direction over a floor surface, until the magnitude of ?Vb_aim is attenuated to "0", the orientation of ?Vb_aim approaches the first direction. The first direction is taken to be the front-rear direction for a passenger riding on the vehicle (1), and the second direction is taken to be the left-right direction for the passenger.