Effect analysis of deflection on motion of hard-connected dual-AGV

For large-shaped and heavy-loaded objects, due to the lower cost of multiple AGVs and the independent functions of each unit, the collaborative transportation of multiple AGVs is more advantageous than that of a single one. For Dual-AGV that are fixedly connected to an object for transportation, similar to hard-connected Dual-AGV. The relative posture deviation between the two AGVs affects the movement of the vehicle, causing some wheels to slip against the ground. This paper conducts a kinematic analysis of the Dual-AGV, and a dynamic analysis of the straight, lateral, turn-in-place, and curve motions, and derives the effect of posture deviation on the motion state of the Dual-AGV. The research results can be used for the design of autonomous driving control for Dual-AGV collaborative transportation.