Dynamic model of a logistic train with different steering systems and tire models

Logistic train is one of the recent solutions applied in intralogistics. It bases on concept “milk-run” delivery method. The main problem implementation intralogistics trains possibility to determine whether able pass given path without a colliding with surrounding objects. Dynamic model presented this paper was performed for three most common steering systems trolleys: double Ackermann system and two drawbar systems: conventional virtual clutch. dynamic developed following Lagrange’s theorem including lateral slip. differential equations numerically solved. In order calculate friction forces we used different tire models: simplified, sigmoidal Pacejka Magic formula. results obtained models are form animations presenting run various conditions. analyses have shown that use simplified justified under certain