Zero Turn Radius Vehicle Incorporating Computer-Controlled “Intelligent Castors”

Abstract

Abstract This paper describes how a computer controlled steering system can be used to increase the ability of zero turn radius vehicles to traverse steep slopes. This objective is achieved by replacing free wheeling front castors with “castors” which are positively rotated about a vertical axis to steering angles which are appropriate to the speed difference between the independently driven rear wheels and held at these angles. This relatively simple “Steer by wire” system foreshadows the development of much more sophisticated steering systems than can be achieved by traditional mechanical linkages.