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

Roberto Sánchez-Martinez, J. Enrique Sierra-García () and Matilde Santos ()
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Roberto Sánchez-Martinez: Computer Science Faculty, Universidad Nacional de Educación a Distancia, 28040 Madrid, Spain
J. Enrique Sierra-García: Department of Electromechanical Engineering, University of Burgos, 09006 Burgos, Spain
Matilde Santos: Institute of Knowledge Technology, Complutense University of Madrid, 28040 Madrid, Spain

Mathematics, 2022, vol. 10, issue 24, 1-31

Abstract: 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.

Keywords: mathematical modelling; iterative algorithm; autonomous vehicle; AGV; multi-trailers; simulation; control; Industry 4.0 (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
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