Abstract: A method of correction of odometry errors during the autonomous drive of a wheel-equipped apparatus having a drive mechanism operatively connected to at least two drive wheels, at least one pivoting wheel operatively connected to a sensor and a control unit operatively connected to the drive mechanism and to the sensor, the method including: an acquisition phase, wherein the sensor acquires an angle of rotation of the at least one pivoting wheel with respect to an axis of rotation substantially perpendicular to a rest surface of the at least one pivoting wheel; a generation phase, wherein the control unit generates a corrective signal that controls the drive mechanism in such a way as to independently operate the at least two drive wheels on the basis of the angle of rotation of the at least one pivoting wheel.

Abstract: Described herein is an assistance system for an electric personal-mobility vehicle (1a) for a person with reduced mobility. The assistance system comprises sensors (50a) configured for supplying data on the current state of the electric vehicle (1a) and a processing system (60, 2, 3). During a path training step, the processing system monitors a control signal (S1; Da, Db) supplied by a user interface (10a) of the electric vehicle (1a) and drives at least one actuator (30) of the electric vehicle (1a) as a function of the control signal (S1; Da, Db). Moreover, the processing system acquires a plurality of positions of the electric vehicle (1a), processes such position data to generate data that define at least one allowed zone, and stores the at least one allowed zone in a memory (62).

Abstract: A device for autonomous drive of a wheel-equipped apparatus, the wheel-equipped apparatus including a drive component operationally connected to a control component adapted to control the drive component, the control component being adapted to be operated manually by a user, the device being adapted to be operationally connected to the drive component, the device having storage adapted to store at least one electric signal corresponding to at least one manual control operated by the user on the control component, and wherein the device is adapted to autonomously control the drive component, as an alternative to the control component, by way of the at least one electric signal stored in the storage.

Abstract: A device for autonomous drive of a wheel-equipped apparatus, the wheel-equipped apparatus including a drive component operationally connected to a control component adapted to control the drive component, the control component being adapted to be operated manually by a user, the device being adapted to be operationally connected to the drive component, the device having storage adapted to store at least one electric signal corresponding to at least one manual control operated by the user on the control component, and wherein the device is adapted to autonomously control the drive component, as an alternative to the control component, by way of the at least one electric signal stored in the storage.