when WL=WR, =0 and the motion radius is infinite, AGV moves in a straight line;When WL= -wR and the radius of motion is 0, the AGV rotates in situ around the M point.It can be seen that the motion radius of AGV keeps changing within the range of [0, +∞] during the whole motion process, so as to achieve different motion modes such as straight line, in-situ rotation and curve motion.