Abstract: A method of recording trajectory data and sensor data for a vehicle while it is manually driven. The trajectory data comprises of the trajectory length and vehicle frame (position and orientation) that are calculated at each motion execution interval. The sensor data comprises of the trajectory length, vehicle frame, sensor frame, and sensor data that are obtained at each sensor execution interval. In particular, if the sensor is a range-finder, an estimated frame of the object that the range finder detects will be added to said sensor data. One objective of this invention is to play back the same motion the vehicle was taught by a human operator. Another objective is to generate a world map for the vehicle. Still further objective is, in the play-back mode, to correct vehicle's positional errors using the sensor data.

Abstract: A vehicle control system having a computer control system, wherein the computer control system comprises a Vehicle-Independent Subsystem and a Vehicle-Dependent Subsystem, and wherein the Vehicle-Independent Subsystem inputs vehicle incremental movement distance and vehicle incremental heading-orientation change from the Vehicle-Dependent Subsystem and outputs commanded path curvature and commanded speed to the Vehicle-Dependent Subsystem, and wherein the Vehicle-Dependent Subsystem inputs the commanded path curvature and commanded speed from the Vehicle-Independent Subsystem, and outputs the incremental vehicle movement distance and vehicle heading-orientation change to the Vehicle-Independent Subsystem, wherein the computer control system has the capability of controlling the execution steps at a constant sampling time interval so that the vehicle system can track a path consisting of lines and/or circular arcs with positional feedback and continuous curvature.

Abstract: A method of controlling a rotary vehicle to navigate a heading using a conation of translational and rotational motions by a plurality of driving-steering wheels controlling the motion in three degrees of freedom for a manned or unmanned vehicle having at least two drive-steering wheels, wherein a drive-steering wheel is a wheel with its heading orientation and driving velocity positively controlled, wherein a global motion is a vehicle trajectory with vehicle orientation from the initial position (with orientation) to a final destination (with orientation), which comprises comparing a global motion selected to the vehicle's body position and orientation to compute a motion instruction in three degrees of freedom, the acceleration, path of curvature, and rotation rate, collectively known as the motion command then converting the motion command into a translational speed, a translational direction, and a rotational rate and converting the translational speed, the translational direction and the rotational rate