| 摘要 |
A self-pivoting vehicle with steering wheel(s) and driving wheel(s), possibly combined, a drive motor and a steering means for pivoting said steering wheel(s). At least one measuring wheel rolls freely against the floor under the vehicle, or two such wheels are journalled at different points on the vehicle for measuring off distances rolled. A computing unit and steering mechanism pivot said steering wheel. The computing unit receives measured values from the measuring wheel(s) for computing the deviation of the vehicle by dead reckoning from a predetermined desired trajectory for the vehicle, and gives off a steering angle signal for deviation correction to the steering mechanism.
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