Method, system, and computer program product for controlling maneuverable wheels on a vehicle

A method of controlling a plurality of maneuverable wheels on an aircraft, comprising:

• determining a true heading of the aircraft;
• determining a ground track of the aircraft;
• calculating a crab angle of the aircraft, wherein the crab angle corresponds to a difference between the ground track and the true heading;
• calculating a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the calculated crab angle;
• and
• steering each of the plurality of wheels to its respective steering angle.

A method of controlling a plurality of maneuverable wheels on an aircraft comprising:

• determining an aircraft airspeed;
• determining a wind speed and a wind direction;
• calculating a crab angle relative to a longitudinal axis of the vehicle based on the aircraft airspeed, the wind speed and the wind direction such that the crab angle aligns the longitudinal axis of the aircraft with respect to a relative wind direction;
• calculating a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the calculated crab angle;
• and
• steering each of the plurality of wheels to its respective steering angle.

A system for controlling a plurality of maneuverable wheels on a vehicle, comprising:

• a steering control interface for selecting a steering radius of the vehicle, wherein the radius is measured from a reference point relative to the vehicle;
• a crab control interface for selecting a crab angle of the vehicle, wherein the crab angle is measured relative to a true heading of the vehicle;
• a processor responsive to the steering control interface and the crab control interface and adapted to determine a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the steering radius and the crab angle;
• and
• a plurality of steering mechanisms responsive to the processor for mechanically turning each respective wheel corresponding to its respective steering angle.

A method of controlling a plurality of maneuverable wheels on a vehicle comprising:

• providing a user defined steering radius of the vehicle, wherein the steering radius is measured from a reference point relative to the vehicle;
• providing a user defined crab angle of the vehicle relative to a true heading of the vehicle, based on the steering point;
• calculating a plurality of steering, angles, each steering angle corresponding to a maneuverable wheel, based on the steering radius and the determined crab angle of the vehicle;
• and
• steering each respective wheel to its respective steering angle.

A method of controlling a plurality of maneuverable wheels on a vehicle, comprising:

• providing a user defined steering point relative to the vehicle;
• determining a steering radius of the vehicle based upon the steering point, wherein the steering radius is measured from a reference point relative to the vehicle;
• determining a crab angle of the vehicle relative to a true heading of the vehicle and based on the steering point;
• calculating a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the steering radius and the determined crab angle of the vehicle;
• and
• steering each respective wheel to its respective steering angle.

A computer program product for controlling a plurality of maneuverable wheels on a vehicle, the computer program product comprising a computer-readable storage medium having computer-readable program code embodied in said medium, the computer-readable program code comprising:

• a first executable portion adapted to determine a steering radius and a crab angle of the vehicle based on at least one user input defining a steering point relative to the vehicle about which to steer the vehicle;
• wherein the steering radius is measured from a reference point relative to the vehicle to the steering point, and wherein the crab angle is relative to a true heading of the vehicle;
• and
• a second executable portion adapted to determine a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the crab angle and the steering radius.