Dynamics model and simulation of outdoor AGV obstacle crossing without 3D model

Abstract

In this study, an outdoor Automated guided vehicle (AGV) with an absorbent vibration system was designed, and a 7-DOF model was established for this system. We built a simulation model in Simulink software that serves as the 7-DOF model. The three indicators for evaluating the stability of the AGV are simulated and analyzed in the simulation model when one side of the AGV crosses a sloping obstacle. A vibration absorptive property experiment of the AGV was performed, and the average maximum displacement of the AGV sprung mass was 13.42 mm. The maximum predicted amplitude of sprung mass in the Simulink simulation model is 12.8mm, and its prediction error is about 4.6%. The prediction accuracy of the Simulink model is higher than that of the Adams simulation method. According to the efficiency comparison experiment of the AGV obstacle crossing simulation method, the obstacle crossing simulation method based on Simulink designed in this paper saves about 28% of the working time of the designer compared with the traditional Adams simulation method, which provides a new idea for the simulation method of outdoor AGV obstacle crossing before the 3D model is established.