Motion Simulation of Autonomous Guided Vehicles

Abstract

Autonomous Guided Vehicles (AGVs) using omnidirectional wheels can change their moving direction flexibly without the use of steering wheel. Is it possible that a vehicle with standard pneumatic wheels (as in a normal vehicle) change its moving direction flexibly by the technique of regulating the driving torque supplied to each wheel? In this article, the simulated motion trajectories of the two types of vehicles were presented, that are the vehicle using Mecanum wheels and the vehicle using standard pneumatic wheels (normal wheels). For vehicles with normal wheels, the simulation was carried out in two cases of motion direction control: with and without using a steering wheel. Further, the main loop of the motion direction control algorithm by regulating the driving torque to the wheels was also presented for a prototype of a vehicle with normal wheel, which was used to simulate the motion direction control experimentally. The topic will focus on motion simulation and the comparison of simulation results to evaluate the application ability of the mentioned technique in AGVs as well as in passenger cars.