Apparatus for Spring Centered Caster Wheel

An autonomous delivery vehicle having one or more caster wheels that may be held off the ground for a portion of the time that the autonomous delivery vehicle travels. Each caster wheel is mounted in a pivot with a centering mechanism to hold the caster wheels in a design orientation. The caster wheel in the design orientation maximizes the view of forward-looking sensors on the autonomous delivery vehicle. The centering mechanism uses a compression spring that drives a follower and swashshaft to apply a rotation force on the caster wheels. The rotational force urges the casters frame and wheels to return to a design position. The rotational force increases with the rotational difference between the caster rotational position and the design position.