Kinematics Analysis and Simulation of Composite Turning Method for Omni-Direction AGV

The composite turning driving control is adopted to carry out the kinematic positive and reverse solution deduction of omni-directional AGV,and at the same time,whose kinematics constraints are analysed. AGV can change the existing defects in the kinematic flexibility of the original AGV.Apart from the realization of common AGV kinematic modes(moving forward and backward,and turning around),the trajectory tracking along the random pathway can be realized via any manners.The feasibility and validity controlled by the composite turning motion are tested via the simulations and experiments.