Method of Controlling a Vehicle to Make a Combination of Arbitrary Translational and Rotational Motions
Abstract
A method of controlling a rotary vehicle to navigate a
heading using a combination of translational and rotational
motions by a plurality of driving-steering wheels controlling
the motion in three degrees of freedom for a manned or
unmanned vehicle having at least two drive-steering wheels,
wherein a drive-steering wheel is a wheel with its heading
orientation and driving velocity positively controlled,
wherein a global motion is a vehicle trajectory with vehicle
orientation from the initial position (with orientation) to a
final destination (with orientation), which comprises comparing
a global motion selected to the vehicle's body position
and orientation to compute a motion instruction in three
degrees of freedom. the acceleration, path of curvature, and
rotation rate, collectively known as the motion command
then converting the motion command into a translational
speed, a translational direction, and a rotational rate and
converting the translational speed, the translational direction
and the rotational rate into the direction and driving speed
for each independent drive-steering wheel.
Description
Patent
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
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