Naslov
Path Continuity for Multi-Wheeled AGVs

Autori
Kokot, Mirko ; Miklić, Damjan ; Petrović, Tamara

Izvornik
IEEE robotics & automation letters (2377-3766) 6 (2021), 4; 7437-7444

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, ostalo

Ključne riječi
Autonomous vehicle navigation ; motion and path planning ; kinematics ; wheeled robots

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA