Kinematic modeling and motion base library design for autonomous guided trolley for warehouse handling

Based on the rapid development of modern ecommerce industry, this paper designs a kinematic base library for autonomous guided vehicles to replace manual handling in the current e-commerce market, which can be used for a variety of autonomous guided vehicles in e-commerce warehouses and can significantly reduce the development time of the chassis for AGV applications. In this paper, we firstly analyze the chassis configurations of AGVs commonly used in e-commerce warehouses, model the kinematics of two types of AGV chassis, verify the accuracy of the models through simulation, and finally encapsulate the kinematic models of these two types of AGVs into a common base library, which can be directly called by the AGV application providers when developing the chassis. This will be of great significance to the AGV application providers to save time and cost and improve economic efficiency.