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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    Title :

    Utah State University's T2 ODV mobility analysis


    Contributors:

    Conference:

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


    Published in:

    Publication date :

    2000-07-10





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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