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 ).