Steering logic for self-propelled mower
First Claim
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1. Steering logic for a self-propelled vehicle having a plurality of wheels, each wheel having a steer axis and scrub radius, comprising the steps of:
- inputting commands for a desired translation velocity and a desired angular velocity of the center of the vehicle;
for each wheel, calculating a rotational velocity as the vector cross product of the desired angular velocity and the steer axis for the wheel;
for each wheel, adding the rotational velocity and the translational velocity to obtain a resultant velocity and steer axis for the wheel;
for each wheel, calculating the wheel offset correction as the product of the scrub radius and the desired angular velocity of the vehicle; and
calculating and providing the actual speed and actual steer angle set points to each wheel.
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Abstract
Steering logic for a self-propelled vehicle having a plurality of wheels includes the steps of receiving translational velocity and angular velocity commands, determining the resultant velocity and steer angle of each wheel, and determining the wheel offset correction for each wheel based on the scrub radius of each wheel and the angular velocity command.
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Citations
7 Claims
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1. Steering logic for a self-propelled vehicle having a plurality of wheels, each wheel having a steer axis and scrub radius, comprising the steps of:
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inputting commands for a desired translation velocity and a desired angular velocity of the center of the vehicle; for each wheel, calculating a rotational velocity as the vector cross product of the desired angular velocity and the steer axis for the wheel; for each wheel, adding the rotational velocity and the translational velocity to obtain a resultant velocity and steer axis for the wheel; for each wheel, calculating the wheel offset correction as the product of the scrub radius and the desired angular velocity of the vehicle; and calculating and providing the actual speed and actual steer angle set points to each wheel. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification