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.
