Abstract: A self-pivoting vehicle with steering wheel(s) and driving wheel(s), possibly combined, a drive motor and a steering means for pivoting said steering wheel(s). At least one measuring wheel rolls freely against the floor under the vehicle, or two such wheels are journalled at different points on the vehicle for measuring off distances rolled. A computing unit and steering mechanism pivot said steering wheel. The computing unit receives measured values from the measuring wheel(s) for computing the deviation of the vehicle by dead reckoning from a predetermined desired trajectory for the vehicle, and gives off a steering angle signal for deviation correction to the steering mechanism.

Abstract: In a wheeled vehicle steered by dead reckoning, which calculates its own position on the basis of distances determined by rolling-off measurement, the error in position determination will increase gradually and necessitate updating. A floor is provided with markings which are observed by a linear detector mounted transversely in the vehicle, and linear images are obtained. At least two different measurements are carried out of the position of a marking in relation to the vehicle, and the distance travelled by the vehicle between the measurements is measured. From these three measured distances, the angle between the vehicle and the marking can be determined. An additional marking forming an angle with the first marking makes it possible to determine the position in the direction of movement of the vehicle as well.

Abstract: In steering a wheeled vehicle along a path marked on the supporting surface, a single linear detector is used which is rigidly mounted in the vehicle perpendicular to the principal direction of movement of the vehicle. As the vehicle moves, the position of the path in the transverse field of view of the detector is measured repeatedly, in the form of lateral deviations .DELTA.x, simultaneously with the distances s.sub.1, s.sub.2 . . . in the direction of movement between successive lateral deviation measurements. The deviation between the direction of the path marked and the path actually travelled by the vehicle is thus obtained, in the form of a lateral deviation .DELTA.x, and an attitude deviation .phi.=(.DELTA.x.sub.2 -.DELTA.x.sub.1)/s.sub.1. These two deviation variables will make possible corrective steering of the vehicle to the marked path.

Abstract: A device for orienting a movable object such as a lifting fork truck in a certain position relative to a second object such as a load, the device having light-emitting device for illuminating the second object so that an image with lighter and darker fields is created thereon, a photoelectric detector movable together with the movable object to scan the image, electronic control equipment connected to the detector for receiving signals therefrom, and operating equipmenT for the movable object, connected to the control equipment to receive signals therefrom and to orient the movable object, dependent on the signals of the photoelectric detector, to the control equipment.