Patent ID: 7464785

Claim:
A vehicle having four or more wheels of substantially the same diameter, wherein: At least two wheels are independently driveable at a specific rotational velocity about their own wheel axis and at least two wheels are independently turnable about a substantially vertical axis to specific steering angles relative to a longitudinal axis of said vehicle; said vehicle includes a first joystick pivotable by a user from a neutral position in any direction relative to said longitudinal axis so as to provide a first demand signal for movement of said vehicle in a path that is instantaneously aligned with said direction; and said vehicle includes a further control means operable by said user to provide a second demand signal specifying a radius of curvature of said path, and wherein said vehicle includes a control system that adjusts both the effective rotational velocity and the effective steering angle of each wheel so as to execute travel of said vehicle along said path in response to said first and second demand signals.