Modeling and Validation of Slip-Induced Instability in Omnidirectional AGVs with Diagonal Dual 2-DOF Wheels

This study introduces the modelling and validation of a type of omnidirectional automated guided vehicle (AGV) that features a unique arrangement of diagonally positioned dual 2-DOF wheels to improve both energy efficiency and maneuverability. The research begins by developing the AG V's kinematic model, followed by an in-depth analysis of the dynamics of the slip process and related slip mechanisms, with a focus on their effects on trajectory deviations. Next, real-world tests are conducted to compare the power consumption of the active wheel motors and real-time yaw deviation, revealing a strong agreement with the theoretical predictions. The results indicate that during speed transitions, slippage and trajectory deviations are observed, adversely impacting the vehicle's stability and precision. Lastly, possible solutions for addressing slippage are explored, offering theoretical and practical insights for the further development of control algorithms.