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From the kinematic model, a criterion is derived to test the existence of inverse kinematic solution. The criterion is a function of the geometric parameters of the AGV and the steering angle of the wheel. From the criterion defined, conditions for the existence of inverse kinematic solution for steering column configurations with and without inclination and offset distance are obtained. The criterion also presents the range of steering angles for which the inverse kinematic solution exists. The criterion signifies the presence of a unique solution for the motion parameters of the wheel, i.e., the wheel speed, steering angle, and steering rate for desired values of the motion parameters of the AGV, i.e., the linear and angular velocities of the AGV. This information is needed for the guidance control of AGVs based upon a kinematic control scheme (dead\u2010reckoning control) without using the absolute position referencing system to follow a predefined path at prescribed linear and angular velocities. \u00a9 1992 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620090805","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:05:33Z","timestamp":1183727133000},"page":"1059-1081","source":"Crossref","is-referenced-by-count":4,"title":["Kinematics of automatic guided vehicles with an inclined steering column and an offset distance: criterion for existence of inverse kinematic solution"],"prefix":"10.1002","volume":"9","author":[{"given":"R. M. H.","family":"Cheng","sequence":"first","affiliation":[]},{"given":"Ramesh","family":"Rajagopalan","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","first-page":"107","volume-title":"Basic Robotics Concepts","author":"Holland J. M.","year":"1983"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800502"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143840"},{"key":"e_1_2_1_5_2","unstructured":"X.Cyril R. M. H.Cheng andT. S.Sankar \u201cOn the dynamics of AGVs \u201d Proc. of the 4th International Conf. on CAD\/CAM Robotics and Factories of the Future Vol. 2 1989 pp.264\u2013273."},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"W. L.NelsonandI. J.Cox \u201cLocal path control for an autonomous vehicle \u201d Proc. of the IEEE International Conf. on Robotics and Automation Vol. 3 1988 pp.1504\u20131510.","DOI":"10.1109\/ROBOT.1988.12280"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"S. K.SahaandJ.Angeles \u201cKinematics and dynamics of a three\u2010wheeled 2\u2010DOF AGV \u201d Proc. of the IEEE International Conf. on Robotics and Automation Vol. 3 1989 pp.1572\u20131577.","DOI":"10.1109\/ROBOT.1989.100202"},{"volume-title":"Kinematic Modeling of Automated Guided Vehicles","year":"1986","author":"Muir P. F.","key":"e_1_2_1_8_2"},{"volume-title":"Automated Guided Vehicle Systems (AGVs) at Work","year":"1986","author":"Hammord G.","key":"e_1_2_1_9_2"},{"key":"e_1_2_1_10_2","unstructured":"L. E.Banta \u201cAdvanced Dead Reckoning Navigation for Mobile Robots \u201d Ph.D Dissertation Georgia Institute of Technology Atlanta GA 1987."},{"key":"e_1_2_1_11_2","unstructured":"M.Julliere L.Marce andH.Perrichot \u201cA guidance scheme for a vechle which has to follow a memorized path \u201d Proc. of the 2nd International Conf. on Automated Guided Vehicle Systems and 16th IRA Conf.1983 pp.211\u2013221."},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.1987.350916"},{"key":"e_1_2_1_13_2","unstructured":"R. M. H.Cheng Y.Courbet M.Surpaceanu P.Favreau andA.Fahim \u201cInvestigation of an automatic guided vehicle (AGV) driven by camera vision \u201d Proc. of the International Conf. on Intelligent Autonomous Systems Amsterdam The Netherlands 1986 pp.162\u2013167."},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(87)90018-8"},{"key":"e_1_2_1_15_2","doi-asserted-by":"crossref","unstructured":"P. F.MuirandC. 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