Methods and systems for controlling differential wheel speeds of multi-independent-wheel drive vehicles

A multi-independent-wheel vehicle comprising:

• multiple wheel assemblies, each comprising:
• a wheel, and
• an electric motor configured to rotate the wheel independently from any other of the multiple wheel assemblies;
• and
• a wheel-speed controller configured to receive a steering input, to determine a target wheel speed for each of the multiple wheel assemblies based on the steering input, and to transmit the target wheel speed to each of the multiple wheel assemblies, wherein:
• the target wheel speed is a rotational speed that has a corresponding linear travel speed for each of the multiple wheel assemblies,
• the corresponding linear travel speed of any two of the multiple wheel assemblies is different when the steering input deviates from a no-steering baseline,
• determining the target wheel speed for each of the multiple wheel assemblies comprises, when the steering input deviates from a no-steering baseline, (1) determining a turning radius corresponding to the steering input, (2) determining a geometric distance between the wheel assembly and a turn center corresponding to the turning radius, and (3) determining the corresponding linear travel speed of the wheel of the wheel assembly corresponding to a geometric no-slip condition, the linear travel speed being proportional to the geometric distance between the wheel assembly and the turn center,
• the corresponding linear travel speed of any two of the multiple wheel assemblies is the same when the steering input is at the no-steering baseline, and
• the target wheel speed for each of the multiple wheel assemblies is adjusted preemptively to maintain a geometric no-slip condition.