In this paper, we focus on the "Vuton-II", a new omni-directional vehicle developed as a transport vehicle to operate within factories, hospitals, and warehouses. This vehicle is composed of three or more "Omni-Discs." The Omni-Disc mechanism ensures that individual wheels of the Omni-Disc assembly are always aligned in the same direction, and can always roll freely. The Vuton-II was based on the Vuton-I, an earlier omni-directional vehicle with similar targeted use and controls characteristics. The Vuton-II is designed to be low in cost, short in stature, and reasonably high in payload.
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