In response to ultra-high maneuverability vehicle requirements, Utah State University (USU) has developed an autonomous vehicle with unique mobility and maneuverability capabilities. This paper describes a study of the mobility of the USU T2 Omni-Directional Vehicle (ODV). The T2 vehicle is a mid-scale (625 kg), second-generation ODV mobile robot with six independently driven and steered wheel assemblies. The six wheel, independent steering system is capable of unlimited steering rotation, presenting a unique solution to enhanced vehicle mobility requirements. This mobility study focuses on energy consumption in three basic experiments, comparing two modes of steering: Ackerman and ODV. The experiments are all performed on the same vehicle without any physical changes to the vehicle itself, providing a direct comparison these two steering methodologies. A computer simulation of the T2 mechanical and control system dynamics is described.


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    Titel :

    Utah State University's T2 ODV mobility analysis


    Beteiligte:
    Davidson, Morgan E. (Autor:in) / Bahl, Vikas (Autor:in) / Wood, Carl G. (Autor:in)

    Kongress:

    Unmanned Ground Vehicle Technology II ; 2000 ; Orlando,FL,USA


    Erschienen in:

    Erscheinungsdatum :

    10.07.2000





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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