Path continuity for multi-wheeled AGVs

TL;DR

This paper introduces a generalized framework for path continuity and kinematic modes tailored for multi-wheeled AGVs, enhancing their maneuverability and aiding in layout design.

Contribution

It presents a novel analytical approach to define kinematic modes and derive continuity conditions for multi-wheeled AGVs, expanding on previous constrained vehicle models.

Findings

Derived general path continuity conditions for multi-wheeled AGVs

Proposed a method to define vehicle kinematic modes based on configuration

Demonstrated applications in layout design methods

Abstract

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.