Ett styrsystem för ett motordrivet fordon och ett förfarande för att styra förflyttning av fordonet

摘要

A control system for a powered vehicle describes a desired movement of the vehicle and communicates the movement to the vehicles drive system. The powered vehicle comprises a chassis and at least three rolling means mounted on the chassis for engaging a surface over which the vehicle moves. The drive system comprises at least two drive units, each comprising first and second driving means, co-operatively operable to provide both propulsion and steering of the drive units. The control system comprises a computing means for calculating a desired movement of the vehicle, wherein translation of the vehicle is calculated in the form of a continuous cubic function and rotation of the vehicle is calculated in the form of a linear function. The control system also comprises a communicating means for transmitting the desired movement to the at least two drive units to move the vehicle in accordance with the desired movement.