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.
- Dynamic Systems and Control Division
Design, Simulation, and Control of a Teleoperated Omnidirectional Ground Vehicle
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Niedert, AD, Hill, RC, & Rayess, NE. "Design, Simulation, and Control of a Teleoperated Omnidirectional Ground Vehicle." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 243-251. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8640
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