The OmniMate: A guidewire- and beacon-free AGV for highly reconfigurable applications

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Abstract
This paper introduces a new automated guided vehicle (AGV) for guidewire-free industrial applications where rapid reconfiguration is required. The AGV, called OmniMate, has full omnidirectional motion capabilities, can correct odometry errors without external references, and offers a large 183 x 91 cm (72 x 36 in) loading deck. A patented, so-called compliant linkage avoids the excessive wheel slippage often found in other omnidirectional platforms. The paper describes the kinematic design and the control system of the platform and explains its unique odometry error correction method, called internal position error correction (IPEC). IPEC renders the OmniMate's odometry almost completely insensitive to even severe irregularities of the floor, such as bumps, cracks, or traversable objects. Dead-reckoning is enhanced further by the addition of a fibre-optics gyroscope. Because of its extraordinary dead-reckoning capabilities the OmniMate can travel over extended distances while following a pre-programmed path fully automatically. The paper describes an implemented 'leadthrough' teaching system, in which an operator guides the OmniMate along a desired path, while the OmniMate records the path to memory. Later, in path execution mode, the OmniMate reproduces the path accurately, observing commanded velocities. With this system it is possible and feasible to program or modify a complete path within minutes.

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