This paper describes the design, construction, and simulation of a prototype, teleoperated, omnidirectional robotic ground vehicle. The design of a dynamic control system to assist the human operator of the vehicle is also presented. This work sought to test the feasibility of a novel vehicle architecture and to develop a dynamic multi-body simulation tool to assist in the development of future iterations of such a vehicle. The vehicle design seeks to achieve high-speed, omnidirectional mobility, and modest off-road capability. This paper presents results from the physical operation and simulation of the vehicle as well as describing some future work to achieve improved performance of the vehicle system.

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