Development of Intelligent Autonomous Four-Wheel-Steering AGVs: Performance Assessment for Optimal Maneuverability and Navigation Accuracy

Automated Guided Vehicles (AGVs) are a key part of today’s industrial automation, especially for material handling and intralogistics operations. The conventional AGV designs, such as differential-drive vehicles and fixed-steering AGVs, tend to exhibit limited maneuverability in restricted spaces. Such behavior can be attributed to comparatively large turning radii in classic designs, which limit the possibility of efficient movement. Thus, the production of affordable AGVs with high motion flexibility and load stability remains a challenge in AGV development. To resolve this issue, PID-controlled reverse-phase steering method is suggested. Experimental evaluation with 12 trials demonstrated a decreased turning radius for the designed AGV from 1.5 ± 0.08 m (literature-reported value) to 0.84 ± 0.05 m (current study finding), corresponding to an approximately 46.7% reduction. Results demonstrate the proposed AGV’s improved cornering capabilities. In addition, the lateral deviation achieved from the designed AGV stands at an average of 3.1 ± 0.5 cm, while the Root Mean Square Error (RMSE) is 3.5 cm, resulting in an overall accuracy rate of 96% ± 1.2%. Obstacle avoidance tests confirm successful performance within an obstacle range of up to 80 cm. Overall, the developed AGV represents a scalable and economical system for intelligent material handling within the industrial environment.