ATS/AGV: design, implementation and evaluation of a high performance AGV

Within the framework of a full scale hardware-in-the-loop intelligent vehicle simulator called VEHIL, an automatic guided vehicle is developed in order to simulate traffic participants. This vehicle, called ATS/AGV, is based on a four wheel drive and four wheel steer concept which allows for a high handling performance in combination with the ability to carry out very complex manoeuvres. A structured design methodology appears to be essential to a cost and time effective design and technical specification of the AGV. This design methodology is strongly based on a dynamic model of the AGV which incorporates essential dynamics and non-linearities, the latter mainly arising from the tyre–road contact behaviour. The other important aspect is the application of test rig experiments. Within this design methodology, the development of the path control system takes place in an early stage and is carried out in close co-operation with the mechanical hardware specification. This makes the AGV a truly mechatronic product. Experiments show that ATS/AGV is capable of executing complex manoeuvres with a high dynamic performance