Modelado de un AGV híbrido triciclo-diferencial

In the industrial field, Automatic Guided Vehicles (AGV) are frequently used for the transport of goods, usually replacing manual means of transport or conveyor belts, to reduce operating costs and human errors in this way. In order to increase the performance of these industrial systems and enable more advanced applications, it is key to develop control-oriented models to test new strategies and control techniques, with the aim of making them safer and more efficient. Thus, in this work a kinematic and dynamic control-oriented model of an AGV is developed. The main objective of this work is to obtain a mathematical representation of the complex dynamics of the AGV Easybot, a hybrid tricycle-differential vehicle, which will allow us to study the effects of towed load and wheel-ground interaction. To do so, the kinematic models of the differential and the tricycle robot have been developed and combined together with the developed vehicle dynamics model. The AGV has been split into its different components and the Newton-Euler equations have been applied to obtain the equations of its dynamics. The model has been validated in simulation for different trajectories, varying the speed and the load.