Patent ID: 8147006

Claim:
In a method of reducing skid of a wheeled vehicle having a plurality of wheels, the method including the steps of comparing wheel velocity of each of said plurality of wheels with a reference velocity of the wheeled vehicle, and generating a slip condition signal for each of said plurality of wheels indicating a slip condition if the wheel velocity is lower than the reference velocity of the vehicle, the improvement comprising the steps of: designating one of said plurality of wheels for which said slip condition signal first indicates an initial slip condition as a lead wheel, and designating each of the remainder of said plurality of wheels as a follower wheel; determining an optimum anti-skid braking response for said lead wheel; controlling skid on each of said plurality of wheels in unison in response to said initial slip condition based upon said optimum anti-skid braking response for said lead wheel; determining an optimum anti-skid braking response for each said follower wheel; controlling skid on each of said plurality of wheels individually if the wheel velocity of one of said remainder of said plurality of wheels is lower than the reference velocity of the vehicle based upon said optimum anti-skid braking response for each said follower wheel.