Navigation method utilizing floor-integrated inductive power supply modules for omnidirectional AGVs

Abstract

AbstractThis paper answers the research question: Can the contactless induced energy supply from a novel inductive floor be used to navigate omnidirectional automated guided vehicles (AGVs)?In contrast to existing systems a novel inductive floor enables AGVs traveling through production without charging breaks. This floor consists of tiles with inductive modules, which supply the AGV with energy. In addition to supplying power to the AGV, the inductive modules are also intended to guide the vehicle through production. To enable such a guidance sensors placed in the AGV measure the induced voltages of the floor. To answer the research question these voltages are calculated with the help of an electromagnetic simulation of the AGV’s travel on the inductive tiles. To estimate the position as well as rotation of the AGV depending on the simulated voltages as inputs a novel algorithm is presented. During the travel the AGV is able to move in arbitrary directions independently of its orientation. To control the omnidrectional AGV consistently without singularities, a transformation in Omni-Curve-Parameters (OCP) is proposed. As simulation case study a four wheeled steering- and velocity controlled AGV is introduced. For the evaluation a novel motion model depending on the input OCP is presented. This model is compared to the estimation of the position to verify the accuracy and the reproducibility of the algorithm.