Minimum aisle width path planning for nonholonomic mobile robots in industrial environments

Industrial facilities that use mobile robots, such as automated guided vehicles (AGVs), must be particularly concerned with the path planning of these vehicles due to the high cost of floor space and ever-present safety concerns. A path that minimizes the required aisle widths for maneuvers can lower costs by increasing floor space utilization and improving safety.;The vehicles investigated in this research have nonholonomic kinematic constraints due to rolling wheels which restrict vehicle motion and make path planning and analytical solutions more difficult. Lower bound solutions are obtained. Solutions to simple and complex nonholonomic paths are determined for vehicles and environments commonly found in industrial facilities.;In determining the minimum aisle width path solution, the equations of motion and path equations for any point on the vehicle are formulated in terms of general vehicle parameters. A cost function comprised of the weighted sum of aisle widths is formulated and minimized. Rather than a blind search for the absolute minimum, conditions based on parameters of the vehicle and environment are developed to determine the absolute minimum of the cost function and the minimum aisle widths. The critical path is defined as the portion of the entire path that completely defines the aisle widths and is the only portion of the path that must be followed in order to result in minimum aisle widths. The minimum aisle width solution in terms of general vehicle parameters is then mapped to specific steering mechanisms to determine vehicle inputs. From the solutions presented, a general solution procedure is defined to solve the problems presented and is used to extend this research to other problems of interest.;Analytical equations are given throughout the majority of the research enabling analytical proofs to be developed and providing additional benefits in practical applications. Simulation experiments, using the equations developed, are performed to test and validate the research. Examples of applications of the research are presented for vehicle path design and facility layout. In addition, the research can be used to determine vehicle specifications and capabilities and is applicable to areas outside industrial environments.