Utah State University's T2 ODV mobility analysis

Morgan E. Davidson; Vikas Bahl; Carl G. Wood

doi:10.1117/12.391619

10 July 2000 Utah State University's T2 ODV mobility analysis

Morgan E. Davidson, Vikas Bahl, Carl G. Wood

Proceedings Volume 4024, Unmanned Ground Vehicle Technology II; (2000) https://doi.org/10.1117/12.391619
Event: AeroSense 2000, 2000, Orlando, FL, United States

Abstract

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.

Citation Download Citation

Morgan E. Davidson, Vikas Bahl, and Carl G. Wood "Utah State University's T2 ODV mobility analysis", Proc. SPIE 4024, Unmanned Ground Vehicle Technology II, (10 July 2000); https://doi.org/10.1117/12.391619

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