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After a short overview about our transport system consisting of omni wheel drive carriers, on-carrier and offcarrier sensor components, the navigation module of this system is described. The multi-level navigation bases on a new polygonal partitioning of the cartesian free-space, which allows a fast local modification of the partitions, if obstacles are added or deleted. An A*-algorithm whose weight function is automatically adjusted by information of lower system levels delivers a coarse route through the environment (driving channel). Subsequently, a sequence of straight lines is generated, which are oriented along the right border of this channel. On the next level of path planning, curves are fitted into the corners of the line segment sequences to generate paths with continuous curvature. The generated, right-oriented paths are collision-free for rectangular modeled vehicles. Finally, various extensions of our work are proposed.

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