Hybrid Navigation System for Mecanum Based Omnidirectional Automated Guided Vehicles
Matthias Wissing, Frank Kuenemund, Daniel Heß, Christof Röhrig · International Symposium on Robotics · 2014
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.