THE OMNIMATE : A GUIDEWIRE- AND BEACON-FREE AGV FOR HIGHLY RECONFIGURABLE APPLICATIONS

This paper describes an automated guided vehicle (AGV) for guidewire- free industrial applications requiring rapid reconfigurations. The system, known as OmniMate, has full omnidirectional motion capabilities. The paper describes the kinematic design and the platform control system. It explains the system's unique odometry error correction method known as internal position error correction (IPEC) which is practically insensitive to severe floor irregularities. OmniMate has enhanced dead reckoning capabilities which allow it to travel over extended distances while automatically following a pre-programmed path.

• Record URL:
  http://www-personal.engin.umich.edu/~johannb/Papers/paper75.pdf
• 
• Supplemental Notes:
  • Publication Date: June 15, 2000
• Corporate Authors:

  University of Michigan, Ann Arbor

  Department of Biostatistics
  Ann Arbor, MI  United States  48109
• Authors:
  • Borenstein, J
• Publication Date: 2000

Language

• English

Media Info

• Pagination: p. 1993-2010
• Serial:
  • International journal of production research. Vol. 38, no. 9
  • Publisher: University of Michigan, Ann Arbor

Subject/Index Terms

• TRT Terms: Automated guided vehicle systems; Robotics

Filing Info

• Accession Number: 00801156
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Files: PATH
• Created Date: Nov 7 2000 12:00AM