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Proceedings Paper

Intelligent mobility through omnidirectional vehicles: a research program
Author(s): Nicholas S. Flann; Robert W. Gunderson; Kevin L. Moore; Carl G. Wood
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Paper Abstract

Beginning in FY98 and continuing in FY99, the Center for Self-Organizing and Intelligent Systems (CSOIS) at Utah State University (USU) has been funded by the US Army Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles (UGV). The long-range goal of the program is to develop and demonstrate enabling technologies that allow lightweight robotic and semiautonomous ground vehicles to achieve on-road and off-road mobility and survivability similar to current manned, wheeled, and tracked military vehicles, with a focus on small-scale to mid-scale vehicles. This paper describes the design concept and the performance of the T-series of robotic vehicles resulting from the TACOM Intelligent Mobility funding at USU (the T1, T2 and T3). USU-TACOM intelligent mobility concepts discussed in the paper include: (1) inherent mobility capability improvements, achieve through the unique concept of USU's omni-directional vehicle (ODV) steering design, which features six independently-controlled smart wheels; (2) intelligent mobility control, enhanced through intelligent coordination and control of each of the six wheels in the ODV vehicles; (3) global mobility control, enhanced through USU optimal multi-agent mission and mobility planning system; and (4) future mobility capability and control.

Paper Details

Date Published: 10 July 2000
PDF: 13 pages
Proc. SPIE 4024, Unmanned Ground Vehicle Technology II, (10 July 2000); doi: 10.1117/12.391633
Show Author Affiliations
Nicholas S. Flann, Utah State Univ. (United States)
Robert W. Gunderson, Utah State Univ. (United States)
Kevin L. Moore, Utah State Univ. (United States)
Carl G. Wood, Utah State Univ. (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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