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Automatic steering means for a driverless carriage

Image Number 5 for United States Patent #4344498.

A driverless carriage with automatic steering rendering the carriage capable of travelling in a straight line as well as performing a rotation about a vertical axis. To improve the precision of the turning movement, the carriage monitors during said movement the position, with reference to the surface on which the carriage moves, of the axis of rotation of the carriage. At least one measuring wheel engages the surface to detect a deviation of said vertical axis from a stationary position to produce a correction signal used for adjusting the steering of the carriage so as to eliminate the deviation of said vertical axis from the proper position.

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