Energy Efficient Kinodynamic Motion Planning for Holonomic AGVs in Industrial Applications using State Lattices

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 8Sprache: EnglischTyp: PDF

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Kuenemund, Frank; Hess, Daniel; Roehrig, Christof (University of Applied Sciences Dortmund, Germany)

We propose a new method for kinodynamic motion planning with state lattices and holonomic Automated Guided Vehicles (AGVs) in industrial environments. The extension of the search space with admissible velocity profiles allows the weighting of the motion primitives with arbitrary cost functions. The velocity profiles are decoupled from the arcs in the motion primitives, thus they allow the control of all three degrees of freedom of the holonomic drive. The profiles are two times continuously differentiable functions that ensure smooth and jerk-free movement of the AGVs. As cost function we use a combination of driving time and energy consumption weighting, for which we present a new experimental evaluated energy model for Mecanum drives.