US Patent 9538696 Guidance and control of vehicle travel path and components

A vehicle, a tool carriage assembly, and a system are disclosed. The vehicle includes drive wheels and a steering assembly which are responsive to control signal(s) to substantially correct a displacement error of the vehicle relative to an intended travel path. The tool carriage assembly includes a support section operatively mounted to a main body for relative movement. The support section is adapted to have mounted thereto a tool unit comprising a tool head. In response to a displacement error of the tool head relative to the intended travel path, the support section is responsive to one or more control signals to move relative to the main body to substantially correct the displacement error of the tool head. The system includes the vehicle having the tool carriage assembly mounted thereto, and a control system for controlling the correction of the displacement errors of the vehicle and the tool head.