Hybrid Navigation System for Mecanum Based Omnidirectional Automated Guided Vehicles

Konferenz: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
02.06.2014 - 03.06.2014 in München, Germany

Tagungsband: ISR/Robotik 2014

Seiten: 6Sprache: EnglischTyp: PDF

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Autoren:
Wissing, Matthias; Kuenemund, Frank; Hess, Daniel; Roehrig, Christof (Intelligent Mobile Systems Lab (IMSL), Department of Computer Science, University of Applied Sciences and Arts Dortmund, Germany)

Inhalt:
This paper presents a hybrid navigation system for mecanum based omnidirectional Automated Guided Vehicles (AGV). It is divided into a classical guidance system for the offline planning procedure and an online reactive system for collision avoidance in dynamic enviroments. The authors AGV framework is implemented as distributed system for advanced controllability and scalability. The hybrid approach gives the operator the desired supervision of the system and each AGV the required flexibility to act on unforeseen changes in the enviroment.