Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant

Alexander B.S. Macfarlane; Theo van Niekerk; Udo Becker; Paolo Mercorelli

doi:10.1016/b978-0-32-395207-1.00018-4

Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant

Alexander B.S. Macfarlane
, Theo van Niekerk
, Udo Becker
, Paolo Mercorelli

Publikation: Beiträge in Sammelwerken › Kapitel › Begutachtung

Abstract

In this chapter, we discuss the design of a unique drive system that can achieve omnidirectional holonomic motion on a large-scale industrial AGV. The AGV achieves both self-navigation and omnidirectional capabilities through the use of a novel form of swerve drive. This novel serve drive makes use of two powered wheels and two unpowered casters to achieve omnidirectional holonomic motion. This “two-wheeled” approach is unique on an industrially compliant AGV.

Originalsprache	Englisch
Titel	Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0
Redakteure/-innen	Paolo Mercorelli, Weicun Zhang, Hamidreza Nemati, YuMing Zhang
Seitenumfang	18
Herausgeber (Verlag)	Academic Press Inc.
Erscheinungsdatum	01.01.2024
Seiten	151-168
ISBN (Print)	9780323952088
ISBN (elektronisch)	9780323952071
DOIs	https://doi.org/10.1016/b978-0-32-395207-1.00018-4
Publikationsstatus	Erschienen - 01.01.2024

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10.1016/b978-0-32-395207-1.00018-4

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Macfarlane, A. B. S., van Niekerk, T., Becker, U., & Mercorelli, P. (2024). Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant. in P. Mercorelli, W. Zhang, H. Nemati, & Y. Zhang (Hrsg.), Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0 (S. 151-168). Academic Press Inc.. https://doi.org/10.1016/b978-0-32-395207-1.00018-4

Macfarlane, Alexander B.S. ; van Niekerk, Theo ; Becker, Udo et al. / Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant. Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. Hrsg. / Paolo Mercorelli ; Weicun Zhang ; Hamidreza Nemati ; YuMing Zhang. Academic Press Inc., 2024. S. 151-168

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title = "Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant",

abstract = "In this chapter, we discuss the design of a unique drive system that can achieve omnidirectional holonomic motion on a large-scale industrial AGV. The AGV achieves both self-navigation and omnidirectional capabilities through the use of a novel form of swerve drive. This novel serve drive makes use of two powered wheels and two unpowered casters to achieve omnidirectional holonomic motion. This “two-wheeled” approach is unique on an industrially compliant AGV.",

keywords = "AGC, AGV, Automated Guided Vehicles, Holonomic Vehicle, Omni-directional Vehicle, Powered Castors, Swerve Drive, Engineering",

author = "Macfarlane, \{Alexander B.S.\} and \{van Niekerk\}, Theo and Udo Becker and Paolo Mercorelli",

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doi = "10.1016/b978-0-32-395207-1.00018-4",

language = "English",

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pages = "151--168",

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publisher = "Academic Press Inc.",

address = "United States",

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Macfarlane, ABS, van Niekerk, T, Becker, U & Mercorelli, P 2024, Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant. in P Mercorelli, W Zhang, H Nemati & Y Zhang (Hrsg.), Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. Academic Press Inc., S. 151-168. https://doi.org/10.1016/b978-0-32-395207-1.00018-4

Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant. / Macfarlane, Alexander B.S.; van Niekerk, Theo; Becker, Udo et al.
Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. Hrsg. / Paolo Mercorelli; Weicun Zhang; Hamidreza Nemati; YuMing Zhang. Academic Press Inc., 2024. S. 151-168.

Publikation: Beiträge in Sammelwerken › Kapitel › Begutachtung

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N2 - In this chapter, we discuss the design of a unique drive system that can achieve omnidirectional holonomic motion on a large-scale industrial AGV. The AGV achieves both self-navigation and omnidirectional capabilities through the use of a novel form of swerve drive. This novel serve drive makes use of two powered wheels and two unpowered casters to achieve omnidirectional holonomic motion. This “two-wheeled” approach is unique on an industrially compliant AGV.

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BT - Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0

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Macfarlane ABS, van Niekerk T, Becker U, Mercorelli P. Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant. in Mercorelli P, Zhang W, Nemati H, Zhang Y, Hrsg., Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. Academic Press Inc. 2024. S. 151-168 doi: 10.1016/b978-0-32-395207-1.00018-4

Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant

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