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Proceedings Paper

Mobility potential of a robotic six-wheeled omnidirectional drive vehicle (ODV) with z-axis and tire inflation control
Author(s): Gary Witus
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Paper Abstract

Robot vehicle mobility is the product of the physical configuration, mechatronics (sensors, actuators, and control) and the motion programs for different obstacles, terrain conditions, and maneuver objectives. This paper examines the mobility potential of a robotic 6-by-6 wheeled omni-directional drive vehicle (ODV) with z-axis and tire inflation control. Ad ODV can steer and drive all wheels independently. The direction of motion is independent of the orientation of the body. Z- axis control refers to independent control of the suspension elevation at each wheel. Pneumatic tire inflation control provides the ability to inflate and deflate individual tires. The paper describes motion programs for various discrete obstacles and challenging terrain conditions. The paper illustrates how ODV control, z-axis control and tire inflation control interact to provide high mobility with respect to cornering, maneuvering on slopes, negotiating vertical step and horizontal gap obstacles, and braking/acceleration on soft soil and slick surfaces. The paper derives guidelines for the physical dimensions of the vehicle needed to achieve these capabilities.

Paper Details

Date Published: 10 July 2000
PDF: 9 pages
Proc. SPIE 4024, Unmanned Ground Vehicle Technology II, (10 July 2000); doi: 10.1117/12.391620
Show Author Affiliations
Gary Witus, Turing Associates, Inc. (United States)

Published in SPIE Proceedings Vol. 4024:
Unmanned Ground Vehicle Technology II
Grant R. Gerhart; Robert W. Gunderson; Chuck M. Shoemaker, Editor(s)

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