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.

Language

  • English

Media Info

Subject/Index Terms

Filing Info

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