Path Continuity for Multi-Wheeled AGVs

Notwithstanding the growing presence of AGVs in industry, there is a lack research about multi-wheeled which offer higher maneuverability and space efficiency. In this letter, we present generalized path continuity conditions as continuation previous done for vehicles with more constrained kinematic capabilities. We propose novel approach analytically defining various modes (motion modes), that multiple steer&drive wheels can utilize. This enables deriving vehicle equations based on configuration its constraints, shape, corresponding motion mode. Finally, derive general paths follow, show through examples how they be utilized layout design methods.