T3
The Intelligent Mobility Program established the TARDEC Robotics Laboratory (TRL) in October 2000. The program is focused on vehicle mobility and control, path planning, vehicle configuration and a "smart wheel" that provides a wheel with three degrees-of-freedom. Intelligent Mobility is defined as developing intelligent behaviors that will maximize the vehicle capabilities to provide greater mobility.
For example, the vehicle must be able to detect negative obstacles and determine the traction available to the vehicle. The vehicle must utilize its built-in capabilities, such as running gear (smart wheels legs or hybrid track wheels) to maneuver through tough obstacles.
The program established a contractual relationship with the Center for Self-Organizing and Intelligent Systems at the Utah State University in June 1998 in order to develop mobility concepts for UGV's. The T3 is the third vehicle in a series of Omi-Directional Vehicles (ODV) developed in this program.
The T3 is a six-wheeled electric vehicle weighing roughly 100 lbs that can be operated autonomously or by joystick. The speed and steering of each wheel can be control individually, and each wheel has a separate actuation to control the Z-axis or height control of each wheel. This capability allows each wheel to be independently steered in a full 360° circle allowing the vehicle to negotiate tight turns that standard steering cannot accomplish. These improved capabilities allow the vehicle to compensate for pitch, roll, and changes in the vehicle center's of gravity, enabling greater mobility on steep inclines.
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