Omnidirectional vehicle and method of controlling the same
US5924512A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Dec 11, 1995 |
| Grant date | Jul 20, 1999 |
| Priority date | — |
| Expiry date | Dec 11, 2015 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D7/04
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
An omnidirectional vehicle supports the steering shaft M of the driving wheel 1 serving also as a steering wheel through the shaft stub 8 on the body 7 at the point displaced by a distance S horizontally from the ground contact point of the driving wheel 1, turns the driving wheel 1 by the motor 5 and rotates the steering shaft M by the motor 12 to translate the body 7 back and forth as well as sidewise as desired. The vehicle is controlled to move on the reference trajectory based on the ratio of the angular velocity of the driving wheel 1 and the angular velocity of the steering shaft M. The ratio is calculated based on the position and orientation of the body 7 and the steering angle of the steering shaft M, detected by the sensors, and the reference trajectory of the vehicle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.