Dynamic modelling and numerical simulation of industrial AGVs when taking into account the payload and friction between the wheel and the road surface

Automated Guided Vehicles (AGVs) are increasingly being used in automated production lines and as a technical tool for digital transformation in smart factories. To be able to control the motion accurately, the dynamic parameters of the AGV need to be modeled according to the mechanical and environmental nature. Therefore, in this paper, a dynamic modeling method for differential-type industrial AGVs is presented when taking into account the payload and friction between the wheel and the road surface. On that basis, the wheel actuator torques will be determined to control the AGV to move in an arbitrary trajectory. A numerical simulation program determines the wheel actuator torques to control the AGV to follow any Bézier trajectory. Two examples are presented to illustrate the established dynamics model. The developed dynamic model is used to design dynamic controllers to improve tracking accuracy for AGVs.