A new navigation concept for mobile vehicles

Abstract

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.

<title>Monitoring system with logical reasoning for mobile robot guidance</title>

“…These obstacles can be only detected after the carrier has reached the objects. In contrast to these systems the flexible transport system [4,5] proposed by us uses global off-carrier sensors connected to a monitoring system [6] in combination with simple, low-cost on-carrier sensors. An overview about the complete flexible transport system architecture is given in section 2.…”

“…To provide global efficient carrier paths, the world model about the practicable area in the factory and additional information about dynamic or static obstacles, reported by the monitoring system are used [4,8].…”

Trajectory tracking control of a nonholonomic mobile robot using iGPS and odometry

“…By differentiating Equation ( 2 ) with respect to time and then substituting Equation (1) into it, we obtaine (2) cos8, -LsinO, ) ( ;…”

“…Wahl proposed the AGV navigation system concept, where TV cameras are installed in the robot's work environment in order to accurately measure its position [2]. A navigation system that was able to direct a small robot in a dynamically changing tabletop environment was developed.…”