Delft University of Technology
Faculty Mechanical, Maritime and Materials Engineering
Transport Technology

F.W.P. Smeets Non-Holonomic Trajectory Planning for AGV's
Literature survey, Report 2005.TL.7005, Transport Engineering and Logistics.

Automated Guided Vehicles (AGVs) are generally not capable of moving perpendicular to their direction in movement as a consequence of non-holonomic constraints. AGVs are also known as mobile robots. Different non-holonomic mobile robots are characterized: the two Wheeled and Car-like Mobile Robot, the Fire truck and the Four Wheel Steering AGV.

An overview is made of the planning methods implemented till date for Automated Guided Vehicles. Only few planning methods recognize the issue of non-holonomy. Some methods implement the non-holonomic constraints directly in the motion planner; others use a multiple step approach. In this second approach a holonomic path from a geometric planner is adapted for the non-holonomic constraints in a second step. T
he basic problem with a single AGV can be extended to a configuration space with multiple AGVs, either by treating all robots together as one multi-bodied robot, or by planning the paths of every robot more or less independent of the other robots.

The DEFT model is developed at the Delft University of Technology for trajectory planning with multiple AGVs. It has proven to be successful in a simulation with respect to obstacle and collision avoidance. Although the non-holonomic constraints where not taken into account, the generated trajectories satisfied the non-holonomic behavior of the AGVs. The simulation of DEFT did not take into account any specific orientation for the initial and final position. The specific orientation can be implemented directly into the DEFT model, or a secondary planner can be used to create so called endgame connection.

Reports on Transport Engineering and Logistics (in Dutch)
Modified: 2006.01.05; , TU Delft / 3mE / TT / LT.