Dr. Ka C. Cheok, Edzko Smid,Jerry Atkinson

Intelligent Motion Planning for Omni-Directional Vehicles

ODV• Mecanum wheels (speed control only)• All wheel steers (speed and all steer)

Path and Motion Planning • Navigation • Perception• Guidance• Execution

IMP ODV Applications• In tight spots: maneuvers, inspections • For efficiency: fastest route, instant

obstacle avoidance, energy saving

Sponsors• DoD US Army

Interests• JADI, Inc (Dr Smid, Atkinson) • Airtrax, Inc

R&D Efforts• Integration of subsystems• Robustness of operation• Man-machine interface• JAUS compatibility• Intelligent perception• Machine learning