Guided control of a transporter

• Main Authors: LANGENFELD CHRISTOPHER C, AMSBURY BURL, KAMEN DEAN L, FIELD J. DOUGLAS, MORRELL JOHN B, LUND JEREMY B, STEVENS JON M, POMPA JONATHAN B
• Format: Patent
• Language: English
• Published: 22.01.2004
• Edition: 7
• Subjects: ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS INVEHICLES; ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OFTRANSMISSIONS IN VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GASEXHAUST OR FUEL SUPPLY OF PROPULSION UNITS, IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; CHAIRS FOR DENTISTRY; CYCLE AXLE SUSPENSIONS; CYCLE FRAMES; CYCLE SIDE-CARS, FORECARS, OR THE LIKE; CYCLE STEERING DEVICES; CYCLES; FUNERAL DEVICES; HUMAN NECESSITIES; HYGIENE; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MEDICAL OR VETERINARY SCIENCE; MOTOR VEHICLES; OPERATING TABLES OR CHAIRS; PERFORMING OPERATIONS; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FORCYCLES; TRAILERS; TRANSPORT OR ACCOMODATION FOR PATIENTS; TRANSPORTING; VEHICLES IN GENERAL

A method for conducting the motion of a transporter under riderless conditions. The transporter has two laterally disposed primary wheels. In accordance with the method, an input is received via a user input disposed on the transporter and a control signal corresponding to the input received is generated. Then a torque is applied to the laterally disposed wheels so as propel the transporter on the basis of at least the control signal. The control signal may correspond to either a commanded torque or to a commanded transporter velocity. The torque may include coadded terms where the terms are, respectively, proportional to the control signal, to a counteracting artificial friction proportional to the common velocity of the wheels, and a term proportional to the differential rotation of the wheels to facilitate turning of the transporter.