According to the above kinematics m

According to the above kinematics model, the output vector of AGV has three components: x, Y and, while the input component has only two, namely the angular velocity WL and WR of the two driving wheels, which is obviously a complete constraint problem.Thus, it can be seen that the AGV always satisfies the constraint equation when it moves, which means that the instantaneous center velocity direction of AGV movement is always consistent with its direction.Therefore, AGV steering can only be realized by adjusting the velocity difference between the two drive wheels, and its motion trajectory can be regarded as consisting of a series of small arcs rotating around the instantaneous center of the circle. Then, the instantaneous motion radius in the AGV motion process can be calculated.First, from equations (4-14) and (4-15), it can be seen that the linear velocity and angular velocity at point M are, respectively: