Dynamic Slippage and Trajectory Deviation Analysis of Omnidirectional AGVs with Diagonal Dual 2-DOF Wheels

Xing Hou; Mengshen Yang; Hang Xu; Fuhua Jia; Adam Rushworth; Zaojun Fang; Guilin Yang

doi:10.1109/ICIEA65512.2025.11148886

Dynamic Slippage and Trajectory Deviation Analysis of Omnidirectional AGVs with Diagonal Dual 2-DOF Wheels

Xing Hou
, Mengshen Yang
, Hang Xu
, Fuhua Jia
, Adam Rushworth^*
, Zaojun Fang^*
, Guilin Yang^*

^*Corresponding author for this work

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

Abstract

This research examines the mechanical design and dynamic characteristics of a new type of omnidirectional Automated Guided Vehicle (AGV) that features double diagonally arranged wheels with two degrees of freedom (DOF). The goal is to reduce energy consumption when compared to conventional robots that use three or more steering wheels. Dynamic evaluation reveals that this setup results in dynamic skidding and trajectory deviation during straight-line acceleration. To explain the mechanism involved, a comprehensive kinematic model of the robot is first created, and a multibody dynamic analysis is carried out to study the dynamic skidding process. A co-simulation using Adams and MATLAB was conducted to validate the theoretical analysis, demonstrating strong agreement between the simulation outcomes and theoretical analysis. This research offers valuable insights into the motion control problems faced by omnidirectional AGVs equipped with diagonally arranged two-DOF wheels and serves as a crucial reference for enhancing their motion and control properties.

Original language	English
Title of host publication	2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798331524036
DOIs	https://doi.org/10.1109/ICIEA65512.2025.11148886
Publication status	Published - 2025
Event	20th IEEE Conference on Industrial Electronics and Applications, ICIEA 2025 - Yantai, China Duration: 3 Aug 2025 → 6 Aug 2025

Publication series

Name	2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025

Conference

Conference	20th IEEE Conference on Industrial Electronics and Applications, ICIEA 2025
Country/Territory	China
City	Yantai
Period	3/08/25 → 6/08/25

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Free Keywords

Contact force analysis
Kinematic model
Omnidirectional AGV
Side-slipping

ASJC Scopus subject areas

Electrical and Electronic Engineering
Industrial and Manufacturing Engineering
Mechanical Engineering
Control and Optimization
Instrumentation

Access to Document

10.1109/ICIEA65512.2025.11148886

Cite this

Hou, X., Yang, M., Xu, H., Jia, F., Rushworth, A., Fang, Z., & Yang, G. (2025). Dynamic Slippage and Trajectory Deviation Analysis of Omnidirectional AGVs with Diagonal Dual 2-DOF Wheels. In 2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025 (2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA65512.2025.11148886

Hou, Xing ; Yang, Mengshen ; Xu, Hang et al. / Dynamic Slippage and Trajectory Deviation Analysis of Omnidirectional AGVs with Diagonal Dual 2-DOF Wheels. 2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025. Institute of Electrical and Electronics Engineers Inc., 2025. (2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025).

@inproceedings{d2eda19541a844f587e375a74f0c702c,

title = "Dynamic Slippage and Trajectory Deviation Analysis of Omnidirectional AGVs with Diagonal Dual 2-DOF Wheels",

abstract = "This research examines the mechanical design and dynamic characteristics of a new type of omnidirectional Automated Guided Vehicle (AGV) that features double diagonally arranged wheels with two degrees of freedom (DOF). The goal is to reduce energy consumption when compared to conventional robots that use three or more steering wheels. Dynamic evaluation reveals that this setup results in dynamic skidding and trajectory deviation during straight-line acceleration. To explain the mechanism involved, a comprehensive kinematic model of the robot is first created, and a multibody dynamic analysis is carried out to study the dynamic skidding process. A co-simulation using Adams and MATLAB was conducted to validate the theoretical analysis, demonstrating strong agreement between the simulation outcomes and theoretical analysis. This research offers valuable insights into the motion control problems faced by omnidirectional AGVs equipped with diagonally arranged two-DOF wheels and serves as a crucial reference for enhancing their motion and control properties.",

keywords = "Contact force analysis, Kinematic model, Omnidirectional AGV, Side-slipping",

author = "Xing Hou and Mengshen Yang and Hang Xu and Fuhua Jia and Adam Rushworth and Zaojun Fang and Guilin Yang",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 20th IEEE Conference on Industrial Electronics and Applications, ICIEA 2025 ; Conference date: 03-08-2025 Through 06-08-2025",

year = "2025",

doi = "10.1109/ICIEA65512.2025.11148886",

language = "English",

series = "2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025",

address = "United States",

}

Hou, X, Yang, M, Xu, H, Jia, F, Rushworth, A, Fang, Z & Yang, G 2025, Dynamic Slippage and Trajectory Deviation Analysis of Omnidirectional AGVs with Diagonal Dual 2-DOF Wheels. in 2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025. 2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025, Institute of Electrical and Electronics Engineers Inc., 20th IEEE Conference on Industrial Electronics and Applications, ICIEA 2025, Yantai, China, 3/08/25. https://doi.org/10.1109/ICIEA65512.2025.11148886

Dynamic Slippage and Trajectory Deviation Analysis of Omnidirectional AGVs with Diagonal Dual 2-DOF Wheels. / Hou, Xing; Yang, Mengshen; Xu, Hang et al.
2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025. Institute of Electrical and Electronics Engineers Inc., 2025. (2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025).

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dynamic Slippage and Trajectory Deviation Analysis of Omnidirectional AGVs with Diagonal Dual 2-DOF Wheels

AU - Hou, Xing

AU - Yang, Mengshen

AU - Xu, Hang

AU - Jia, Fuhua

AU - Rushworth, Adam

AU - Fang, Zaojun

AU - Yang, Guilin

PY - 2025

Y1 - 2025

N2 - This research examines the mechanical design and dynamic characteristics of a new type of omnidirectional Automated Guided Vehicle (AGV) that features double diagonally arranged wheels with two degrees of freedom (DOF). The goal is to reduce energy consumption when compared to conventional robots that use three or more steering wheels. Dynamic evaluation reveals that this setup results in dynamic skidding and trajectory deviation during straight-line acceleration. To explain the mechanism involved, a comprehensive kinematic model of the robot is first created, and a multibody dynamic analysis is carried out to study the dynamic skidding process. A co-simulation using Adams and MATLAB was conducted to validate the theoretical analysis, demonstrating strong agreement between the simulation outcomes and theoretical analysis. This research offers valuable insights into the motion control problems faced by omnidirectional AGVs equipped with diagonally arranged two-DOF wheels and serves as a crucial reference for enhancing their motion and control properties.

AB - This research examines the mechanical design and dynamic characteristics of a new type of omnidirectional Automated Guided Vehicle (AGV) that features double diagonally arranged wheels with two degrees of freedom (DOF). The goal is to reduce energy consumption when compared to conventional robots that use three or more steering wheels. Dynamic evaluation reveals that this setup results in dynamic skidding and trajectory deviation during straight-line acceleration. To explain the mechanism involved, a comprehensive kinematic model of the robot is first created, and a multibody dynamic analysis is carried out to study the dynamic skidding process. A co-simulation using Adams and MATLAB was conducted to validate the theoretical analysis, demonstrating strong agreement between the simulation outcomes and theoretical analysis. This research offers valuable insights into the motion control problems faced by omnidirectional AGVs equipped with diagonally arranged two-DOF wheels and serves as a crucial reference for enhancing their motion and control properties.

KW - Contact force analysis

KW - Kinematic model

KW - Omnidirectional AGV

KW - Side-slipping

UR - https://www.scopus.com/pages/publications/105018118336

U2 - 10.1109/ICIEA65512.2025.11148886

DO - 10.1109/ICIEA65512.2025.11148886

M3 - Conference contribution

AN - SCOPUS:105018118336

T3 - 2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025

BT - 2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 20th IEEE Conference on Industrial Electronics and Applications, ICIEA 2025

Y2 - 3 August 2025 through 6 August 2025

ER -

Hou X, Yang M, Xu H, Jia F, Rushworth A, Fang Z et al. Dynamic Slippage and Trajectory Deviation Analysis of Omnidirectional AGVs with Diagonal Dual 2-DOF Wheels. In 2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025. Institute of Electrical and Electronics Engineers Inc. 2025. (2025 IEEE 20th Conference on Industrial Electronics and Applications, ICIEA 2025). doi: 10.1109/ICIEA65512.2025.11148886

Dynamic Slippage and Trajectory Deviation Analysis of Omnidirectional AGVs with Diagonal Dual 2-DOF Wheels

Abstract

Publication series

Conference

UN SDGs

Free Keywords

ASJC Scopus subject areas

Access to Document

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