02 TP Chen Agv PDF

Chapter 4 Dynamic Modeling of Automatic Guided Vehicle
Simulator for Sensor Guided Autonomous Systems 42

Chapter 4 Dynamic Modeling of
Automatic Guided Vehicle
4.1 Introduction
The subject of this chapter is the development of kinematics and dynamics of
Automatic Guided Vehicles (AGV). The AGV is developed for autonomous operation
on rough terrain, but here we focus on the simplest one, i.e., vehicle meant for tasks
on horizontal surfaces, and so, its platform undergoes planar motion, which greatly
simplifies it kinematics and dynamics.

In contrast to robotic manipulators, which are holonomic systems, AGVs are non-
holonomic systems. The rolling constraints between the wheels and the ground make
kinematic and dynamic analyses more complicated than holonomic systems. For the
purpose of simplification, the motion of wheels on AGV is restricted for pure rolling,
which means no sliding can occur. Therefore, the dynamic model of AGV under
development has only 2 degrees of freedom.
4.2 AGV Architecture and System Definition
The AGV under investigate is rolling on conventional wheels. Since it has 2 degrees
of freedom, it need only two actuators, the various designs available varying
essentially in where these actuators are located. The basic architecture of this kind of
AGV is displayed in Fig. 4.1, in which we distinguish a chassis, or AGV body,
depicted as a triangular plate in that figure. Two coaxial wheels that are coupled to the
chassis by means of revolute of axes passing through points O
1
and O
2
; and a third
wheel mounted on a bracket.

The two coaxial wheels are powered independently, thereby doing away with the
differential train and its undesirable side effects, the third wheel becoming a caster
wheel. Moreover, the orientation of the latter is determined by friction and inertia
forces, thereby making unnecessary the steering control system.
Let C be the mass center of platform and coordinate frame
C C C
k j i
G G G
C be body-fixed
frame. Define
C
i
G
,
C
j
G
and
C
k
G
be unit vectors along each of axis of frame, respectively,
with
C
k
G
pointing in the upward vertical direction. The position vector of platform in
frame
0 0 0 0
k j i
G G G
O that is fixed to the ground is denoted by
C
r
G
. Additionally, let be
the orientation angle of platform relative to ground fixed frame. The rotate angles of
two coaxial wheels are denoted by
1
and
2
, respectively. Frame
4 4 4 4
k j i
G G G
O is the
body fixed centroidal frame of the bracket, while O
4
is the mass center of the bracket.
The orientation of the bracket relative to platform is denoted by and
3
is the rotate
angle of caster wheel. By virtue of the 2-DOF motion of this AGV, we can control
either the velocity
C
r
G
of C or a combination of and a scalar function of
C
r
G
by
properly specifying the two joint rates
1
and
2
. However, we cannot control the two

components of
C
r
G
and simultaneously.

Fig. 4.1 A 2-DOF Automatic guided vehicle
4.3 Kinematic Analysis
4.3.1 Kinematics of the Platform
With the restriction of pure rotation, the velocity of two actuated wheels could be
given by

C O C O
j r j r
G

G
G

G
2 1
2 1
, = = (4.1)
where is the radius of the wheels. If we define
C C C C
k k
G
G
G
= = be the angular
velocity of platform, the relationship of velocities between two actuated wheels can
be written as
1 2
2 1
O O
C O O
+ =
G
G
r r , so the angular velocity of the platform can be
readily expressed as
( )
2 1

= =
l
C
(4.2)
The positive direction of
C
G
is defined as the same as that of
C
k
G
. Furthermore, the
velocity of C can be expressed as
C O
C O C 1
1
+ =
G
G
r r (4.3)
Substituting Equation (4.1) and Equation (4.2) into Equation (4.3), the velocity of the
platform can now be written as
( ) ( )
C C C
l
a j i r
G

G

G
2 1 2 1
2

+ = (4.4)
If we define | |
T
C C C

G
G G
r v = to be the generalized velocity of the platform and
| |
T
2 1
=
a
to be the actuated joint rates, we have

a C C

G
T v = (4.5)
where

(
(

=
C C
C C C C
C
l
a
l
a
l
k k
j i j i
T
G G
G G G G
2 2

In the platform coordinate frame,
C
T can be expressed as

T
1 0 0 0
2
1 0 0 0
2
(
(
(

=
l
a
l
a
l
T
C
C

The relationship between the platform coordinate frame and the global reference
frame is

0 0 0 0 0
, cos sin , sin cos k k j i j j i i
G G G G G G G G
= + = + =
C C C

so
C
T in the global reference frame can be written as

T
1 0 0 0 cos
2
sin sin
2
cos
1 0 0 0 cos
2
sin sin
2
cos
(
(
(
+
+
=

l
a
l
a
l
a
l
a
l
T
C

Since the platform undergoes planar motion, the generalized velocity of the platform
in the global reference frame is

a C C
T v
= (4.6)
where
C
v is the generalized velocity of the platform in the global reference frame and
it has the form as | |
T
C
j
C
i
C C
r r v = . The translation matrix
C
T can be simplified as

(
(
(
(
(
(

+ +
=
1 1
cos
2
sin cos
2
sin
sin
2
cos sin
2
cos

l
a
l
a
l
a
l
a
l
T
C

Differentiating Equation (4.5) with respect to time yields the generalized acceleration
of the platform

a C a C C

G
T T v + = (4.7)
where | |
T
C C C

G

G
G
r v = . In the platform coordinate frame,
C
T
can be written as

(
(
+
=
0 0
j i j i
T
C C C C
C C
a
l
a
l
l
G G G G
2 2

Consider that the platform is performs planar motion, the generalized acceleration of
the platform in the global reference frame can be re-written as

a C a C C
T T v

+ = (4.8)
where
C
v is the generalized acceleration of the platform in the global reference frame
and can be expressed as | |
T
C
j
C
i
C C
r r v = . It is easy to obtain that

(
(
(
(
(
(
+ +
+ +
=
0 0
sin
2
cos sin
2
cos
cos
2
sin cos
2
sin

l
a
l
a
l
a
l
a
l
T
C C

4.3.2 Kinematics of the Actuated Wheels
The angular velocity of the actuated wheels can be written as

C C C C C C
k i k i
G G
G
G G
G
+ = + =
2 2 1 1
,
Substituting Equation (4.2) into above equation, the angular velocity of the actuated
wheels can be obtained as

a C C C a C C C
l l l l

G G G
G
G G G
G
(
=
(
+ = k i k k k i
2 1
,
If we define | |
T
1 i i

G
G G
r v = (i=1, 2) to be the generalized velocities of the actuated
wheels, they can be written as
2 , 1 = = i
a i i

G
T v (4.9)
where

(
=
(
=
C C C
C
C C C
C
k i k
j 0
T
k k i
0 j
T G G G
G
G G G
G
4 4
2
4 4
1
,

are velocity transportation matrices for the actuated wheels and
l
=
4
.
Differentiating Equation (4.9) with respect to time, the generalized acceleration of
two actuated wheels is now obtained
2 , 1 , = + = i
a i a i i

G
T T v (4.10)
where

(
=
(
=
C C
C C
C C
C C
j 0
i 0
T
0 j
0 i
T G
G
G
G
2 1
,
4.3.3 Kinematics of the Caster Wheel
The velocity of caster wheel is simple and can be obtained directly as
4 3 3
j r
G

K
= .
The angular velocity of the caster wheel can be written most easily in the bracket
fixed frame, namely ( )
4 4 3 3
k i
G
G
+ + =
C
. We express velocity of P in two
independent forms, one in terms of the velocity of O
3
and the other in terms of the
velocity of C, i.e.,
P O
O P 3 4
3
+ =
K
G
r r (4.11.a)
CP
C C P
+ =
K
G
r r (4.11.b)
where
4
G
is the angular velocity of the bracket and can be written as
( )
4 4
k
K
G
+ =
C

Upon equating the right-hand sides of Equation (4.11.a) and Equation (4.11.b), we
obtain a 3-dimensional vector equation relating the dependent with the independent
rates, that is,
( )
4 4 4 3
i i r i j
G G
G
G
d b d
C C C
+ = + (4.12)
The relationship between platform frame and bracket frame is

4 4 4 4 4
, cos sin , sin cos k k j i j j i i
G G G G G G G G
= + = =
C C C

Now it is a simple matter to solve for
3
and from Equation (4.12). Indeed, we

solve for
3
by dot-multiplying both sides of Equation (4.12) by

4
j
G
. Likewise, we
solve for by dot-multiplying both sides of Equation (4.12) by
4
i
G
, thus obtaining
( ) ( )
2 1 2 1 1 3
cos
2
1
sin

+ + =
( )( ) ( )
(
+ + + =
2 1 2 1 2 1 3
sin
2
1
cos

with the definitions given as
l
b a +
=
1
,
l
d
=
2
and
d
=
3
.
Hence, if we let
u
be the passive joint rates, which means | |

T

3 u
= , we have

a u
H

= (4.13)
with H defined as

(
(
(
(
|
.
|
\
|
+
|
.
|
\
|
+ +
+ +
=

sin
2
1
cos sin
2
1
cos
cos
2
1
sin cos
2
1
sin
2 1 3 2 1 3
1 1
H
The generalized velocity of the caster wheel now can be written as

a
G
3 3
T v = (4.14)
where

l
r
H H H H
H H
=
(
+ +

=
4
4 22 4 12 4 21 4 11
4 12 4 11
3
,

k i k i
j j
T G G G G
G G

with the definitions of
21
H and
22
H given as
4 21 21
+ = H H ,
4 22 22
= H H .
Differentiating Equation (4.13) with respect to time, the expression for H
is obtained

(
(
(
(
|
.
|
\
|
+
|
.
|
\
|

|
.
|
\
|
+
=

cos
2
1
sin cos
2
1
sin
sin
2
1
cos sin
2
1
cos
1 3 1 3
1 1
H
and we have
21 21
H H

= ,
22 22
H H

= .
the caster wheel is

a a

G
3 3 3
T T v + = (4.15)
where

(
+ + + +
+ +
=
4 22 4 12 4 4 12 4 21 4 11 4 4 11
4 4 12 4 12 4 4 11 4 11
3
k j i k j i
i j i j
T G
G G
G G
G G
G G
H H H H H H
H H H H

4.3.4 Kinematics of the Bracket
The angular velocity of bracket can be written as ( )
4 4
k
G
G
+ =
C
. Substituting
Equation (4.2) and Equation (4.13) into it, the angular velocity of the bracket can be
rewritten in the actuated joint rates as
| | | |
2 4 22 1 4 21 4

G
G
G
+ + = H H
C C
k k (4.16)
The velocity of the bracket can be written as
4 3 4 3 4
O O + =
G
G
r r . Substituting
Equation (4.14) and Equation (4.16) into it, the velocity of the bracket becomes
( ) ( )
2 4 4 22 4 12 1 4 4 21 4 11 4
2
1
2
1

G K
G K
G
(
+ +
(
+ + = i j i j r H d H H d H (4.17)
Combining Equation (4.16) and Equation (4.17), the generalized velocity of the
bracket can be rewritten in form as

a
G
4 4
T v = (4.18)
where

(
(
+ +
=
4 22 4 21
4 22 4 12 4 21 4 11
4

2
1
2
1
k k
i j i j
T
G G
G K G K
H H
H d H H d H

the bracket can be obtained

a a

G
4 4 4
T T v + = (4.19)
where

( ) ( )
(
+ +
=
4 22 4 21
4 22 4 21 4 12 4 11
4
k k
j i j i
T G
G G G G
H H
S S d S S d

and

(
(
(
+
+
=
12 3 4 22 4 12 3 22
11 3 4 21 4 11 3 21
2
1
2
1
2
1
2
1
H H H H
H H H H
S

4.3.5 Inverse Kinematics
Since the motion of the platform is planar, its velocity is a 3-dimensional vector. The
joint rates of actuated wheels can be obtained by regarding Equation (4.6) as an over-
determined system of three equations in two unknowns. The least-square
approximation of this system is given as

C C a
v T
+
=
(4.20)
where ( )
T
1
T
C C C C
T T T T

+
= is the Moore-Penrose generalized inverse of
C
T . Similarly,
the acceleration relationship between the platform and the actuated wheels is

a C a C C
T T v

+ =
Now, actuated joint acceleration is computed as
| |
a C C C a
T v T

=
+
(4.21)
To obtain the actuated wheel angles
a
, Equation (4.20), which relates the Cartesian
velocity of the platform with joint rates, could be integrated, with known initial
conditions of the platform, and by any standard integration scheme.
4.4 Dynamic Equation of AGV Systems
An AGV can be considered as a multibody system. Using the Variational-Vector
calculus method, the variational form of equation of motion of an AGV is
( ) | | 0
5
1
= +
= i
i i i i i i i
F v M v M v
G
G G
(4.22)
where
i
v
G
is the velocity of component i,
i
M is the Inertia tensor of component i,
i
F is
the applied force acting on component i,
i
is defined as

(
=
i
i
0
0 0

We distinguish five components composing AGV at hand. These are the three wheels
(two actuated wheels and one caster wheel), the bracket carrying the caster wheel, and
the platform. We label these bodies with numbers from 1 to 5, in the foregoing order,
while noticing that components 4 and 5, the bracket and the platform, undergo planar
motion, and hence, deserve special treatment. The 6 6 Inertia tensor of the first
three bodies are labeled
1
M to
3
M , with a similar labeling for their corresponding 6-
dimensional velocity vectors. The counterpart items for components 4 and 5 being
denoted by
4
M ,
5
M ,
4
v
G
, and
5
v
G
respectively.
From kinematic analysis, the generalized velocity and the generalized acceleration of
each part in AGV can be written as

a i a i i a i i

G
G
T T v T v + = = , (4.23)
By applying Equation (4.23), the dynamic equation of AGV can be written as
| | 0
5
1
T T T T
T
= + +
= i
i i a i i i i a i i i a i i i a
F T T M T T M T T M T

Since the AGV under study has only two degrees of freedom and if
a
is selected as
the state variable for AGV, the variation of
a
is independent. The dynamic equation

of AGV can be rewritten as
( ) ( ) F W M
a a a
= +

, (4.24)
where
=
=
5
1
T
i
i i
M T M T is the generalized mass matrix of system, and
| |
=
+ =
5
1 i
i i i i i i i
W T M T T M T
T T

contains Coriolis and centrifugal generalized forces.
Note that | |
T
T T
u a
= denotes the 4-dimensional vector of joint variables
containing all four angles appearing as components of
a
and
u
. Because of
nonholonomy of the system under study, an expression for the latter in terms of the
former cannot be derived, and thus the whole 4-dimensional vector is left as an
argument of both M and W .

In order to obtain the generalized mass matrix of an AGV system, we let
w
J and
c
J
be the moment of inertia matrices of the two actuated wheels and the caster wheel,
respectively, the scalar moments of inertia of the bracket and the platform, which
undergo planar motion, being denoted by
b
J and
p
J . Likewise, we let
w
m ,
c
m ,
b
m
and
p
m denote the masses of the corresponding components. Therefore, in the body
fixed frame of each part, its mass matrix can be expressed as

2
3
1
0
0
M
J
I m
M
w
w
=
(
=

(
=
(
=
(
=
p
p
b
b
c
c
J
I m
M
J
I m
M
J
I m
M
0
0
,
0
0
,
0
0
2
5
2
4
3
3

Furthermore, we assume that the actuated wheels and caster wheels can be modeled as
rigid disks of uniform material of the given mass
w
m ,
c
m and radius , so we have

(
(
(
=
(
(
(
=
1 0 0
0 1 0
0 0 2
4
1
,
1 0 0
0 1 0
0 0 2
4
1
2 2

c c w w
m J m J
It is now a simple matter to obtain that

(
(
(
+
= =
2
4
2
4
2
4
2
4
2
1 1
T
1 1
2
1
2
1
2
1
2
1
3
2
1

w
m T M T L

(
(
(
= =
2
4
2
4
2
4
2
4
2
2 2
T
2 2
2
1
3
2
1
2
1
2
1
2
1

w
m T M T L

(
(
(
+ +
+ +
= =
2
22
2
12 22 21 12 11
22 21 12 11
2
21
2
11
2
3 3
T
3 3
2
1
3

2
1
3

2
1
3
2
1
3
2
1
H H H H H H
H H H H H H
m T M T L
c

(
+ +
+ +
+
(
= =
2
12
2
3
2
22 12 11
2
3 22 21
12 11
2
3 22 21
2
11
2
3
2
21 2
2
22 22 21
22 21
2
21
4 4
T
4 4
4
4

4

4
4
1

H H H H H H
H H H H H H
d m
H H H
H H H
J T M T L
b
b

(
(
(
+
+
+
(

= =
2
5
2
5
2
5
2
5
2 2
4 5 5
T
5 5
4
1
4
1
4
1
4
1
1 1
1 1

p p
m J T M T L
So the generalized mass matrix of the AGV system is given below

=
=
5
1 i
i
L M
Now, we undertake to calculate
=
5
1
T
i
i i i i
T M T . Only the caster wheel and the bracket
can contribute to this term, for the contributions of the other parts to the generalized
mass matrix are constant. However, the bracket undergoes planar motion, its
contribution to this term vanishes. Therefore,

3 3 3
T
3
5
1
T
T M T T M T
i
i i i i
=
=

One can rewrite the expression of
3
T as | |
T
T
3
T
3 3
R T = in the bracket frame then it
can be expressed as
| |
3 3
T
3
3
3 3
3
T
3
T
3
3 3 3
T
3
5
1
T
~
0
0
~
0
0 0

c
c
c
i
i i i i
J
R
J
I m
R
T M T T M T
=
(
=
=
=

where
3
is the angular velocity of the caster wheel resolved in the bracket frame and
| |
T
3 3 3
0
k i
= . Furthermore, we have

2 22 1 21 3 2 12 1 11 3

,

H H H H
k i
+ = + =
and

(
(
(
=
0 0
0
0 0
i
3
i
3
k
3
k
3
3
~

After simplification, one has

(
(
(
=
0 0
2
0 0
4
~
3 22 3 12 3 21 3 11
2
3 3
i k i k c
c
H H H H
m
J

Now it is a simple matter to verify that

2 3 3
T
3
0
~
=
c
J
with
2
0 denotes the 2 2 zero matrix, and hence,

2
5
1
T
0 =
= i
i i i i
T M T
The derivation of the forces supplied by the actuators is straightforward:

(
=
2
1

The dissipative generalized force is less straightforward, but its calculation is not too
lengthy. In fact, if we assume linear dashpots at all joints, then the dissipation
function is

u u a a
C C c c c c

+ = + + + =
T T
2
4
2
3 3
2
2 2
2
1 1
2
1
2
1
2
1
2
1
2
1
2
1

where

(
=
(
=
4
3
2
1
0
0
,
0
0
c
c
C
c
c
C
Now, if we recall the expression for
u
in terms of
a
, we end up with

a a
D

T
2
1
=
Here, D is defined, in turn, as the equivalent damping matrix, given by
H C H C D + =
T

The dynamic model under study thus taking the form
( ) ( )
a a a a
D W M

= + , (4.25)

Therefore, we complete the mathematical model governing the motion of the system
at hand. Note here that denotes the 4-dimensional vector of joint variables
containing all four angles appearing as components of
a
and
u
. Because of the
nonholonomy of the system, an expression for the latter in terms of the former cannot
be derived, and thus the whole 4-dimensional vector is left as an argument of both
M and W .

Since the generalized mass matrix M and the Coriolis and centrifugal generalized
force matrix W are functions of the whole 4-dimensional joint variable , Equation
(4.25) cannot be integrated independently. To obtain the dynamic response of the
AGV system under study, one can rewrite Equation (4.13) an Equation (4.25) as

( ) ( ) f D W M
H
a a a a
a u
= =
=

,
(4.26)
If one select | |
T
2 1 3 2 1

= x as the state variable of the AGV system,
the first order dynamic equation of the system can be written as
( ) x t x = (4.27)
where

(
(
(
f M
H t
a
a
1

Equation (4.27) is a set of standard first-order differential equations and can be solved
by any standard numerical integration method with the proper initial conditions.
4.5 Numerical Example
For numerical purposes, the geometrical parameters of the AGV system are
considered as:
, 1010 . 0 , 05 . 0 , 4 . 0 m a m r m l = = =
. 1 . 0 , 25 . 0 , 2020 . 0 m h m d m b = = =
The inertial parameters are considered as:
Mass of each wheel: 2Kg,
Inertia tensor for each wheel | |
2
00125 . 0 00125 . 0 0025 . 0 m Kg diag
i
= I (i=1, 2, 3),
Mass of the platform: 20Kg,
Inertia tensor of the platform | |
2
5
4083 . 0 7083 . 0 7083 . 0 m Kg diag = I .

Compared to the mass of the wheels and the platform, the mass of the bracket is
considered negligible. The AGV is programmed to traverse a circular path of radius
R=5m in 60s. The sweep angle is assumed to be a fifth-order polynomial function
of time verifying zero velocity and acceleration conditions at start and end point. This
is given as:
( )
5
5 1 0
t a t a a t + + + = "
with the following numerical values:

5 5 4 4 3 3 2 1 0
60
12
,
60
30
,
60
20
, 0 . 0 , 0 . 0 , 0 . 0

= = = = = = a a a a a a
Where
i
a is measured in units of s rad / for i=0, 1, , 5.
The result obtained from inverse kinematics and dynamics are shown in Fig. 4.2 to
Fig. 4.5.
0 10 20 30 40 50 60
-700
-600
-500
-400
-300
-200
-100
0
Right wheel
Left Wheel
A
n
g
l
e

(
r
a
d
)
Time (Sec)

Fig. 4.2 Wheel angles
0 10 20 30 40 50 60
-25
-20
-15
-10
-5
0
Left Wheel
Right Wheel
V
e
l
o
c
i
t
y

(
r
a
d
/
s
)
Time (Sec)

Fig. 4.3 Wheel rates

0 10 20 30 40 50 60
-1.5
-1.0
-0.5
0.0
0.5
1.0
1.5
Right Wheel
Left Wheel
A
c
c
e
l
e
r
a
t
i
o
n

(
r
a
d
/
s
2
)
Time (Sec)

Fig. 4.4 Wheel acceleration

0 10 20 30 40 50 60
-0.08
-0.04
0.00
0.04
0.08
0.12
Right Wheel
Left Wheel
T
o
r
q
u
e

(
N
.
m
)
Time (Sec)

Fig. 4.5 Wheel torque

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Chapter 4 Dynamic Modeling of Automatic Guided Vehicle

Simulator for Sensor Guided Autonomous Systems 42

. However, we cannot control the two

and from Equation (4.12). Indeed, we

by dot-multiplying both sides of Equation (4.12) by

be the passive joint rates, which means | |

is independent. The dynamic equation

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