Single Pod Differential Swerve Drive System

An omni-directional drive system for a robotic vehicle, the system comprising:

• a chassis having a longitudinal axis and a lateral axis;
• a single swerve pod disposed substantially at an intersection of the longitudinal and lateral axes, the swerve pod including
• (a) a traction wheel rotatable about a first axis generally perpendicular to the chassis, and
• (b) a pod housing supporting the traction wheel for rotation about a second axis generally parallel to the chassis so that the traction wheel can be steered to any azimuth relative to the chassis;
• a first electric motor coupled to the traction wheel through a first gear train so as to impart driving torque to the traction wheel;
• a second electric motor coupled to the pod housing through a second gear train configured cooperatively with the first gear train to differentially rotate the pod housing relative to the traction wheel, thereby steering the traction wheel without interrupting wheel rotation;
• at least one chassis support element located remotely from the swerve pod and engaging an underlying surface to stabilize the chassis during motion;
• and
• a controller in communication with the first and second electric motors and operable to (i) command a desired heading by rotating the pod housing to a selected azimuth and (ii) command a desired translational velocity by driving the traction wheel, whereby the robotic vehicle is propelled in any horizontal direction using only the single swerve pod.