Trajectory Tracking and Driving Torque Distribution Strategy for Four-Steering-Wheel Heavy-Duty Automated Guided Vehicles
A four-steering-wheel heavy-duty Automated Guided Vehicle (AGV) is prone to lateral instability and wheel slippage during acceleration, climbing, and small-radius turns. To address this issue, a trajectory tracking strategy considering lateral stability and an optimal driving torque distribution str...
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MDPI AG
2025-05-01
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| Online Access: | https://www.mdpi.com/2075-1702/13/5/383 |
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| author | Xia Li Xiaojie Chen Shengzhan Chen Benxue Liu Chengming Wang |
| author_facet | Xia Li Xiaojie Chen Shengzhan Chen Benxue Liu Chengming Wang |
| author_sort | Xia Li |
| collection | DOAJ |
| description | A four-steering-wheel heavy-duty Automated Guided Vehicle (AGV) is prone to lateral instability and wheel slippage during acceleration, climbing, and small-radius turns. To address this issue, a trajectory tracking strategy considering lateral stability and an optimal driving torque distribution strategy considering load transfer and tire adhesion coefficient are proposed. Firstly, a three-degree-of-freedom AGV trajectory tracking model is established, tracking error and sideslip angle are incorporated into the cost function, and an improved model predictive trajectory tracking controller is proposed. Secondly, the longitudinal and yaw dynamic model of AGV is established, and vertical load transfer is analyzed. With the goal of minimizing tire adhesion utilization rate, quadratic programming is used for the optimal distribution of driving torque. Finally, through co-simulation using ADAMS and MATLAB on a narrow “climbing straight+ S-curve” road, the maximum tracking error is 0.0443 m. Compared to the unimproved model predictive control and average driving torque distribution strategy, the sideslip angle is reduced by 58.18%, the maximum tire adhesion utilization rate is reduced by 6.62%, and climbing gradeability on wet roads is enhanced. |
| format | Article |
| id | doaj-art-a527a13274da4d8dabfbbb02c812b000 |
| institution | Kabale University |
| issn | 2075-1702 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-a527a13274da4d8dabfbbb02c812b0002025-08-20T03:47:58ZengMDPI AGMachines2075-17022025-05-0113538310.3390/machines13050383Trajectory Tracking and Driving Torque Distribution Strategy for Four-Steering-Wheel Heavy-Duty Automated Guided VehiclesXia Li0Xiaojie Chen1Shengzhan Chen2Benxue Liu3Chengming Wang4School of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou 450001, ChinaSchool of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou 450001, ChinaSchool of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou 450001, ChinaSchool of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou 450001, ChinaSchool of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou 450001, ChinaA four-steering-wheel heavy-duty Automated Guided Vehicle (AGV) is prone to lateral instability and wheel slippage during acceleration, climbing, and small-radius turns. To address this issue, a trajectory tracking strategy considering lateral stability and an optimal driving torque distribution strategy considering load transfer and tire adhesion coefficient are proposed. Firstly, a three-degree-of-freedom AGV trajectory tracking model is established, tracking error and sideslip angle are incorporated into the cost function, and an improved model predictive trajectory tracking controller is proposed. Secondly, the longitudinal and yaw dynamic model of AGV is established, and vertical load transfer is analyzed. With the goal of minimizing tire adhesion utilization rate, quadratic programming is used for the optimal distribution of driving torque. Finally, through co-simulation using ADAMS and MATLAB on a narrow “climbing straight+ S-curve” road, the maximum tracking error is 0.0443 m. Compared to the unimproved model predictive control and average driving torque distribution strategy, the sideslip angle is reduced by 58.18%, the maximum tire adhesion utilization rate is reduced by 6.62%, and climbing gradeability on wet roads is enhanced.https://www.mdpi.com/2075-1702/13/5/383four-steering-wheel AGVtrajectory trackingdriving torque distributionload transfertire adhesion utilization rate |
| spellingShingle | Xia Li Xiaojie Chen Shengzhan Chen Benxue Liu Chengming Wang Trajectory Tracking and Driving Torque Distribution Strategy for Four-Steering-Wheel Heavy-Duty Automated Guided Vehicles Machines four-steering-wheel AGV trajectory tracking driving torque distribution load transfer tire adhesion utilization rate |
| title | Trajectory Tracking and Driving Torque Distribution Strategy for Four-Steering-Wheel Heavy-Duty Automated Guided Vehicles |
| title_full | Trajectory Tracking and Driving Torque Distribution Strategy for Four-Steering-Wheel Heavy-Duty Automated Guided Vehicles |
| title_fullStr | Trajectory Tracking and Driving Torque Distribution Strategy for Four-Steering-Wheel Heavy-Duty Automated Guided Vehicles |
| title_full_unstemmed | Trajectory Tracking and Driving Torque Distribution Strategy for Four-Steering-Wheel Heavy-Duty Automated Guided Vehicles |
| title_short | Trajectory Tracking and Driving Torque Distribution Strategy for Four-Steering-Wheel Heavy-Duty Automated Guided Vehicles |
| title_sort | trajectory tracking and driving torque distribution strategy for four steering wheel heavy duty automated guided vehicles |
| topic | four-steering-wheel AGV trajectory tracking driving torque distribution load transfer tire adhesion utilization rate |
| url | https://www.mdpi.com/2075-1702/13/5/383 |
| work_keys_str_mv | AT xiali trajectorytrackinganddrivingtorquedistributionstrategyforfoursteeringwheelheavydutyautomatedguidedvehicles AT xiaojiechen trajectorytrackinganddrivingtorquedistributionstrategyforfoursteeringwheelheavydutyautomatedguidedvehicles AT shengzhanchen trajectorytrackinganddrivingtorquedistributionstrategyforfoursteeringwheelheavydutyautomatedguidedvehicles AT benxueliu trajectorytrackinganddrivingtorquedistributionstrategyforfoursteeringwheelheavydutyautomatedguidedvehicles AT chengmingwang trajectorytrackinganddrivingtorquedistributionstrategyforfoursteeringwheelheavydutyautomatedguidedvehicles |