Ghost II - The Son of Ghost

Ghost has been getting a makeover....first the we cut the frame and opened it up to allow for tote intake in the front:

Next, we have been modifying the drivetrain to add omni wheels.

Here is the first iteration with four wheel drive and the omni wheels in back:

The rear-steer was a bit tough to get used to, and the swing arc is probably too for tight-maneuvering among tote stacks.

So, we went back to six wheel drive with omni wheels in the corners: