Performance and Extreme Conditions Analysis Based on Iterative Modelling Algorithm for Multi-Trailer AGVs

Automatic guidance vehicles (AGV) are industrial that play an important role in the development of smart manufacturing systems and Industry 4.0. To provide these autonomous with flexibility is required today workspaces, AGV computational models necessary order to analyze their performance design efficient planning control strategies. address issues, this work, mathematical model algorithm implement a control-oriented simulation hybrid tricycle-differential multi-trailers have been developed. Physical factors, such as wheel-ground interaction effect vertical lateral loads on its dynamics, incorporated into model. The has tested two different controllers three trajectories: circumference, square, s-shaped curve. Furthermore, it used extreme situations slipping capsizing influence number trailers tracking error effort. This way, minimum friction coefficient avoid ratio between height displacement center gravity obtained. In addition, change also simulated.