a control means including a CPU for controlling said wheel driving means in {HEAD ~ accordance} with {TAIL ~ the outputs} of said sensor means 
with
a control means including a CPU for controlling said wheel driving means in { HEAD ~ accordance } with { TAIL ~ the outputs } of said sensor means
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH