A Systems Engineering Approach for the Design of an Omnidirectional Autonomous Guided Vehicle (AGV) Testing Prototype

<table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left"></td><td class="align_center" colspan="3">Trajectory</td><td class="align_center" rowspan="2">Mean absolute error (deg)</td></tr><tr class="thead"><td class="align_left">2–4 Movement</td><td class="align_center"><span style="width: 16.6412ptpx;"><svg height="11.0031pt" id="M40" style="vertical-align:-0.2064009pt" version="1.1" viewbox="-0.0498162 -10.7967 16.6412 11.0031" width="16.6412pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M244 635C114 635 38 519 38 422C38 317 111 240 217 240C236 240 255 244 277 256L345 292C311 140 203 39 59 15L64 -15C89 -15 150 -5 204 17C339 72 440 202 440 386C440 521 368 635 244 635ZM228 602C326 602 352 479 352 390C352 370 351 347 348 324C327 308 293 296 258 296C174 296 124 369 124 458C124 517 152 602 228 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242 -12C362 -12 447 89 447 209C447 311 374 393 267 393C247 393 226 386 204 376L137 343ZM227 337C318 337 361 256 361 173C361 105 336 22 258 22C176 22 126 120 126 240C126 266 127 291 132 310C155 323 189 337 227 337Z"></path></g><g transform="matrix(.013,0,0,-0.013,12.48,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,18.79,-5.741)"><path d="M339 262C339 340 273 403 193 403S48 340 48 262S113 121 193 121S339 184 339 262ZM283 262C283 210 242 168 193 168S104 210 104 262S144 356 193 356S283 314 283 262Z"></path></g></svg></span></td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left"><span style="width: 9.67742ptpx;"><svg height="7.34169pt" id="M43" style="vertical-align:-0.3499303pt" version="1.1" viewbox="-0.0498162 -6.99176 9.67742 7.34169" width="9.67742pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M681 498L677 524C566 516 465 513 413 515C415 463 412 362 404 251L430 247L469 432C520 390 553 327 553 255C553 131 454 30 332 30S111 131 111 255C111 342 160 417 230 455C222 470 213 484 204 499C114 454 53 361 53 255C53 103 178 -20 332 -20S611 103 611 255C611 338 574 413 514 463L681 498Z"></path></g></svg></span></td><td class="align_center">0.8</td><td class="align_center">1.2</td><td class="align_center">1.3</td><td class="align_center">1.1</td></tr><tr><td class="align_left"><span style="width: 9.67742ptpx;"><svg height="7.34169pt" id="M44" style="vertical-align:-0.3499303pt" version="1.1" viewbox="-0.0498162 -6.99176 9.67742 7.34169" width="9.67742pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M681 255C681 361 620 454 530 499C521 484 512 470 504 455C574 417 623 342 623 255C623 131 524 30 402 30S181 131 181 255C181 327 214 390 265 432L304 247L330 251C322 362 319 463 321 515C269 513 168 516 57 524L53 498L220 463C160 413 123 338 123 255C123 103 248 -20 402 -20S681 103 681 255Z"></path></g></svg></span></td><td class="align_center">0.9</td><td class="align_center">1</td><td class="align_center">1.2</td><td class="align_center">1.03</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Rotational movement errors in the kinematic model.</div>

Journal of Robotics

tab5

Table 5

Table 5: A Systems Engineering Approach for the Design of an Omnidirectional Autonomous Guided Vehicle (AGV) Testing Prototype 