Path Continuity for Multi-Wheeled AGVs (CROSBI ID 298226)
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Podaci o odgovornosti
Kokot, Mirko ; Miklić, Damjan ; Petrović, Tamara
engleski
Path Continuity for Multi-Wheeled AGVs
Notwithstanding the growing presence of AGVs in the industry, there is a lack of research about multi-wheeled AGVs which offer higher maneuverability and space efficiency. In this letter, we present generalized path continuity conditions as a continuation of previous research done for vehicles with more constrained kinematic capabilities. We propose a novel approach for analytically defining various kinematic modes ( motion modes ), that AGVs with multiple steer&drive wheels can utilize. This approach enables deriving vehicle kinematic equations based on the vehicle configuration and its constraints, path shape, and corresponding motion mode. Finally, we derive general continuity conditions for paths that multi-wheeled AGVs can follow, and show through examples how they can be utilized in layout design methods.
Autonomous vehicle navigation ; motion and path planning ; kinematics ; wheeled robots
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Podaci o izdanju
6 (4)
2021.
7437-7444
objavljeno
2377-3766
10.1109/LRA.2021.3099086
Povezanost rada
Elektrotehnika, Temeljne tehničke znanosti