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Proceedings Paper

Adaptive controllability of omnidirectional vehicle over unpredictable terrain
Author(s): Ka C. Cheok; Micho Radovnikovich; Gregory R. Hudas; James L. Overholt; Paul Fleck
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Paper Abstract

In this paper, the controllability of a Mecanum omnidirectional vehicle (ODV) is investigated. An adaptive drive controller is developed that guides the ODV over irregular and unpredictable driving surfaces. Using sensor fusion with appropriate filtering, the ODV gets an accurate perception of the conditions it encounters and then adapts to them to robustly control its motion. Current applications of Mecanum ODVs are designed for use on smooth, regular driving surfaces, and don't actively detect the characteristics of disturbances in the terrain. The intention of this work is to take advantage of the mobility of ODVs in environments where they weren't originally intended to be used. The methods proposed in this paper were implemented in hardware on an ODV. Experimental results did not perform as designed due to incorrect assumptions and over-simplification of the system model. Future work will concentrate on developing more robust control schemes to account for the unknown nonlinear dynamics inherent in the system.

Paper Details

Date Published: 19 May 2009
PDF: 12 pages
Proc. SPIE 7352, Intelligent Sensing, Situation Management, Impact Assessment, and Cyber-Sensing, 73520S (19 May 2009); doi: 10.1117/12.820298
Show Author Affiliations
Ka C. Cheok, Oakland Univ. (United States)
Micho Radovnikovich, Oakland Univ. (United States)
Gregory R. Hudas, U.S. Army RDECOM-TARDEC (United States)
James L. Overholt, U.S. Army RDECOM-TARDEC (United States)
Paul Fleck, Dataspeed Inc. (United States)

Published in SPIE Proceedings Vol. 7352:
Intelligent Sensing, Situation Management, Impact Assessment, and Cyber-Sensing
Stephen Mott; John F. Buford; Gabriel Jakobson, Editor(s)

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