Design of a Fault-Tolerant Holonomic Mobile Platform

Abstract

The mobile platform described in this paper is a holonomic type robotic vehicle. It is designed for use as a slave system in the development of a fault-tolerant teleoperation test-bed system. Therefore, the vehicle itself has a fault-tolerant design. This paper reviews the previous designs of mobile platforms, introduces several conceptual designs and the final design. Initial component selection is also presented and mobile platform motion planning is described.