Design and Implementation of an Omni-directional Robotic Ground Vehicle

Niedert, Andrew, Yazan Aljeroudi, Nassif Rayess, and Richard Hill

This poster will outline the work performed by students and faculty at UDM to construct an omni-directional robotic vehicle. The design of the platform is inspired by the active split offset castor (ASOC) design which has appeared in the literature previously, but had not been implemented in the context of a robotic ground vehicle. The UDM team designed and constructed the entire mechanical platform as well as implementing the necessary sensors, actuators, control software and interface to allow the vehicle to be remotely operated by a human driver. Work performed to generate a simple dynamic model and simulation of the vehicle will also be outlined.