Modelling of a hybrid differential-tricycle AGV

[EN] In the industrial field, Automatic Guided Vehicles (AGV) are frequently used for the transport of goods, usually replacing manual means of transport or conveyor belts, to reduce operating costs and human errors in this way. In order to increase the performance of these industrial systems and enable more advanced applications, it is key to develop control-oriented models to test new strategies and control techniques, with the aim of making them safer and more efficient. Thus, in this work a kinematic and dynamic control-oriented model of an AGV is developed. The main objective of this work is to obtain a mathematical representation of the complex dynamics of the AGV Easybot, a hybrid tricycle-differential vehicle, which will allow us to study the effects of towed load and wheel-ground interaction. To do so, the kinematic models of the differential and the tricycle robot have been developed and combined together with the developed vehicle dynamics model. The AGV has been split into its different components and the Newton-Euler equations have been applied to obtain the equations of its dynamics. The model has been validated in simulation for different trajectories, varying the speed and the load.[ES] En el ámbito industrial se utilizan con frecuencia Vehículos de Guiado Automático (AGV) para el transporte de mercancía puntual, normalmente sustituyendo a los medios de transporte manuales o a las cintas transportadoras, para así reducir costes operativos y errores humanos. Para aumentar el rendimiento de estos sistemas industriales y que puedan realizar funcionalidades más avanzadas, es fundamental desarrollar modelos orientados al control que permitan probar nuevas estrategias y técnicas de control que los hagan más eficientes y seguros. Para ello, en este trabajo se desarrolla un modelo cinemático y dinámico orientado al control de un AGV. El principal objetivo del trabajo es conseguir una representación matemática de la compleja dinámica del AGV Easybot, un vehículo híbrido triciclo-diferencial, que permita estudiar los efectos de carga remolcada y la interacción rueda-suelo. Para ello se ha desarrollado el modelo cinemático de la parte diferencial y del triciclo, y se han combinado ambos entre sí y con el desarrollo de la dinámica del vehículo. Se ha descompuesto el AGV en sus distintos módulos y se han aplicado las ecuaciones de Newton-Euler para obtener las ecuaciones de su comportamiento dinámico. El modelo se ha validado en simulación para diferentes trayectorias, variando la carga y la velocidad.Sánchez, R.; Sierra-García, JE.; Santos, M. (2021). Modelado de un AGV híbrido triciclo-diferencial. Revista Iberoamericana de Automática e Informática industrial. 19(1):84-95. https://doi.org/10.4995/riai.2021.146228495191Abderrahim, M., Bekrar, A., Trentesaux, D., Aissani, N., & Bouamrane, K. (2020). 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