Abstract: A control system for a powered vehicle describes a desired movement of the vehicle and communicates the movement to the vehicles drive system. The powered vehicle comprises a chassis and at least three rolling means mounted on the chassis for engaging a surface over which the vehicle moves. The drive system comprises at least two drive units, each comprising first and second driving means, co-operatively operable to provide both propulsion and steering of the drive units. The control system comprises a computing means for calculating a desired movement of the vehicle, wherein translation of the vehicle is calculated in the form of a continuous cubic function and rotation of the vehicle is calculated in the form of a linear function. The control system also comprises a communicating means for transmitting the desired movement to the at least two drive units to move the vehicle in accordance with the desired movement.

Abstract: The present invention relates to a drive unit (10) comprising a rolling means (12) intended to be infrictional engagement with a surface over which said drive unit (10) is intended to move. The drive unit (10) also comprises a first driving means (14) and a second driving means (16), co-operatively operable to provide both propulsion and steering of said drive unit (10) while eliminating slippage between said rolling means (12) and said surface. The first driving means (14) is arranged on a rotatable support means (18) rotatable about a center axis (c.a.) and is operable to rotate said rolling (12) about a roling axis. rolling means (12) is displaced a predetermined distance from said center axis (c.a.), and the second driving means (16) is operable rotate the support means (18) about said center axis (c.a.).