  Notwithstanding the growing presence of AGVs in the industry, there is a lack
of research about multi-wheeled AGVs which offer higher maneuverability and
space efficiency. In this paper, we present generalized path continuity
conditions as a continuation of previous research done for vehicles with more
constrained kinematic capabilities. We propose a novel approach for
analytically defining various kinematic modes (motion modes), that AGVs with
multiple steer and drive wheels can utilize. This approach enables deriving
vehicle kinematic equations based on the vehicle configuration and its
constraints, path shape, and corresponding motion mode. Finally, we derive
general continuity conditions for paths that multi-wheeled AGVs can follow, and
show through examples how they can be utilized in layout design methods.
