RT Journal Article
T1 Performance and Extreme Conditions Analysis Based on Iterative Modelling Algorithm for Multi-Trailer AGVs
A1 Sánchez-Martínez, Roberto
A1 Sierra-García, Jesús Enrique
A1 Santos Peñas, Matilde
AB Automatic guidance vehicles (AGV) are industrial vehicles that play an important role in the development of smart manufacturing systems and Industry 4.0. To provide these autonomous systems with the flexibility that is required today in these industrial workspaces, AGV computational models are necessary in order to analyze their performance and design efficient planning and control strategies. To address these issues, in this work, the mathematical model and the algorithm that implement a computational control-oriented simulation model of a hybrid tricycle-differential AGV with multi-trailers have been developed. Physical factors, such as wheel-ground interaction and the effect of vertical and lateral loads on its dynamics, have been incorporated into the model. The model has been tested in simulation with two different controllers and three trajectories: a circumference, a square, and an s-shaped curve. Furthermore, it has been used to analyze extreme situations of slipping and capsizing and the influence of the number of trailers on the tracking error and the control effort. This way, the minimum lateral friction coefficient to avoid slipping and the minimum ratio between the lateral and height displacement of the center of gravity to avoid capsizing have been obtained. In addition, the effect of a change in the friction coefficient has also been simulated.
PB Mdpi
YR 2022
FD 2022-12-15
LK https://hdl.handle.net/20.500.14352/112554
UL https://hdl.handle.net/20.500.14352/112554
LA eng
NO Sánchez-Martinez, R., Sierra-García, J. E., & Santos, M. (2022). Performance and extreme conditions analysis based on iterative modelling algorithm for multi-trailer AGVs. Mathematics, 10(24), 4783.
DS Docta Complutense
RD 25 abr 2025