| 摘要 |
The present invention relates to a control system (70) for a powered vehicle (2) for describing a desired movement of said vehicle (72), and communicating said movement to a drive system of said vehicle (72). The powered vehicle comprises a chassis, at least three rolling means mounted on said chassis for engagement with a surface over which said vehicle (71) is to move. The drive system comprises at least two drive units, each comprising a first driving means and a second driving means, co-operatively operable to provide both propulsion and steering of said drive units. The control system (70) comprises a computing means (74) for calculating a desired movement of said vehicle (72), wherein translation of said vehicle (72) is calculated in the form of a continues cubic function and rotation of said vehicle (72) is calculated in the form of a linear function. The control system (70) also comprises a communicating means (76) for transmitting said desired movement to said at least two drive units to move said vehicle (72) in accordance with the desired movement.
|
