Abstract: In this paper, wefocus on the "Vuton-I/, a new
amni-directianal vehicle developed as a transport vehicle
to operate withinfactories, hospitals, and warehouses. This
vehicle is composed of three or more "Omni-Discs." The
Omni-Disc mechanism ensures that individual wheels olthe
Omni-Disc assembly are always aligned in the same
direction, and can always roll Feely. The VUlon-1 was
based on the Vuton-I, an earlier omni-directional vehicle
with similar targeted use and controls characteristics. The
Vutoll-II is designed 10 be low in