Method of castor management

摘要

The invention provides a drive system (10) for a vehicle (12) and a method for driving a vehicle (12). The drive system (10) includes a first drive wheel (14) rotatable about a first axis (16) for supporting the vehicle (12). The drive system (10) also includes a second drive wheel (18) rotatable about the first axis (16) for supporting the vehicle (12). The drive system (10) also includes at least one castor (20) rotatable about a second axis (22) transverse to the first axis (16). The castor (20) is forward of the first and second drive wheels (14, 18) in a direction of travel of the vehicle (12). The drive system (10) also includes a controller (24) for differentially driving the first and second drive wheels (14, 18) in response to a position of the at least one castor (20) about the second axis (22).