Online kinodynamic motion planning for omnidirectional automatic guided vehicles

This paper presents a new approach for kinodynamic online motion planning for Automated Guided Vehicles (AGVs) in industrial environments. AGVs normally transport large and heavy transport units such as Euro-pallets or mesh pallets. Nowadays just-in-time inventory management and lean production requires the transport of small transportation units. Thus a flexible material flow is needed that can not be fulfilled by continuous material handling devices like belt or roll conveyors. Our approach uses small holonomic AGVs that are equipped with safety laser range finders for our semi autonomous motion and path planning system. This system plans trajectories with respect to the kinodynamic constraints of the AGVs and the environment. The operator retains as much control as necessary and the vehicle can react online on course deviations and unforeseen changes in the environment.