Patent ID: 7798262

Claim:
A vehicle, comprising: at least three drive axles (A, B, C), each axle with a pair of drive wheels ( 30 H, 30 V, 31 H, 31 V), drive arrangements ( 40 H, 40 V, 41 H, 41 V) driving the drive wheels, the drive arrangements comprising an electric drive motor, a steering system that direct controls the steering angle between at least two of the drive axles, wherein the vehicle is arranged such that all drive wheels on the vehicle's right hand side and left hand side, respectively, essentially follow the same wheel tracks when the vehicle is driven, and wherein the frequency of rotation is individually controllable for each drive wheel, and differential compensating means ( 20 a , 20 b ) arranged to register the relative steering angle for each consecutive pair of drive axles, respectively, wherein the mutual frequency of rotation for the drive wheels of each drive axle is controlled by the registered relative steering angle associated with said axle.