Path continuity for multi-wheeled AGVs
This work addresses path planning challenges for multi-wheeled AGVs in industrial settings, offering improved maneuverability and space efficiency, though it appears incremental as an extension of prior research.
The paper tackles the problem of path planning for multi-wheeled automated guided vehicles (AGVs) by developing generalized path continuity conditions, building on previous research for simpler vehicles. It presents a novel analytical approach for defining kinematic modes and deriving vehicle equations based on configuration, constraints, and path shape.
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 paper, 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 and 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.