Study on Dynamic Simulation of Differential Driving Cargo Transport Vehicle

Abstract

With the rapid development of industrial technology, the application fields of AGV are constantly expanding. In this article, a differential vehicle is selected to construct a dynamic model of differential vehicle and establish a co-simulation platform of MATLAB/Simulink and ADAMS, which fully considers the nonlinear friction between wheels and the ground, the body mass and its own moment of inertia during steering, simulates the actual motion trajectory of the vehicle under different paths, and compares the ideal trajectory with the actual ADAMS output, which is generally consistent with the theory, and the basic path trend tends to be consistent. The deviation between them also reflects that the differential vehicle is a multi-degree-of-freedom strong nonlinear system, so the platform can better simulate the actual motion process of the vehicle.

Analysis of the Public Transport Efficiency, Productivity and Economies of Scale: The Case of Sfax – Tunisia

“…The improvements and incentives for the collective mode tend to offer significant advantage. These may even be more significant when the public transport substitutes automotive travels (Liu & Wang, 2023). It is notably an economical advantage through achieving several savings on vehicles costs, the renunciation of driving, reducing congestion, parking cost savings, increasing road safety and security, economizing of energy and the cutting down polluants emissions.…”

Research on Accurate Motion Trajectory Control Method of Four-Wheel Steering AGV Based on Stanley-PID Control

“…Unlike holonomic kinematics models, the nonholonomic kinematics model considers the effects of both dynamic and kinematic constraints on the motion state. The following assumptions are made [ 25 , 26 ]: The AGV is treated as a rigid body. The steering motors of each steering wheel are perpendicular to the ground, while the driving motors are parallel to the ground.…”

“…Unlike holonomic kinematics models, the nonholonomic kinematics model considers the effects of both dynamic and kinematic constraints on the motion state. The following assumptions are made [25,26]:…”