Abstract: The invention relates to a propelled vehicle including: a chassis, a first shaft comprising a crown that is rotationally symmetrical about a first axis and rotatably mounted on the chassis about the first axis of rotation, a first drive system connected to the first shaft and capable of rotating the first shaft about the first axis, which drive system includes a second shaft rotatably mounted on the first shaft about a second axis of rotation orthogonal to the first axis of rotation, the second shaft being supported at two separate points on the first shaft, the points defining the second axis of rotation, and the second shaft supporting at least one propulsion unit of the vehicle, and a second drive system connected to the second shaft and capable of rotating the second shaft about the second axis of rotation.