Vehicles with cooperative redundant multiple steering systems: Alternative driver interfaces

This paper presents the results of calculations of the wheel angles and the drive wheel speeds to ensure that the steering effect of the wheel angles and the steering effect of the speeds of the drive wheels are identical. These calculations are general insofar as the centre of curvature of the path of the centre of the vehicle can lie anywhere in the 'horizontal' plane, including within the plan view of the vehicle. These minimal turning circles at times require large wheel angles and large differences in the drive wheel speeds. When the driver selects a centre of curvature inside the rectangle defined by the wheelbase and the track, problems arise owing to the multiple solutions of the arctan function. This problem is solved so that flipping of the wheels through 180° is avoided. Similar problems can arise in the calculation of the correct wheel speed because of the ambiguity of the square root function, which has both positive and negative roots. This problem is also solved. Alternative driver interfaces are described in detail. Vehicles with cooperative redundant multiple steering systems promise safety benefits relative to vehicles with a single non-redundant steering system and environmental benefits relative to vehicles with conflicting redundant multiple steering systems. The safety benefits result from increased traction, stability and manoeuvrability (especially on hills). The environmental benefits include reduced ground damage, tyre wear and fuel wastage on turning. These vehicles would be used to best advantage as extreme off-road vehicles. The general case of vehicles described is capable of both pure rotation and pure translation in any direction, and all motion in between. This maximized manoeuvrability also makes the system ideal for vehicles operating in confined spaces, such as forklift trucks

New control concept for a gantry tractor comprising a 'chorus line' of synchronized modules

A new method of automatically maneuvering a gantry tractor through right-angle turns, U-turns, and narrow gates is described in this paper. In order to maximize traction and maneuverability, both the wheel-angle steering effect and the drive-wheel-speed steering effect are integrated. This technique produces identical and cooperative redundant steering systems. The necessary wheel angles and drive wheel speed have been simulated. The advantage of cooperative redundancy is that when any steering system begins to fail, it is reinforced by the other steering syste