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    Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10259/7554

    Título
    Performance and Extreme Conditions Analysis Based on Iterative Modelling Algorithm for Multi-Trailer AGVs
    Autor
    Sánchez-Martínez, Roberto
    Sierra Garcia, Jesús EnriqueUBU authority Orcid
    Santos, Matilde
    Publicado en
    Mathematics. 2022, V. 10, n. 24, 4783
    Editorial
    MDPI
    Fecha de publicación
    2022-12
    DOI
    10.3390/math10244783
    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.
    Palabras clave
    Mathematical modelling
    Iterative algorithm
    Autonomous vehicle
    AGV
    Multi-trailers
    Simulation
    Control
    Industry 4.0
    Materia
    Ingeniería eléctrica
    Electric engineering
    URI
    http://hdl.handle.net/10259/7554
    Versión del editor
    https://doi.org/10.3390/math10244783
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    Documento(s) sujeto(s) a una licencia Creative Commons Atribución 4.0 Internacional
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    Sanchez-mathematics_2022.pdf
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