Dynamic equation of motion is expressed with only encoder's displacement and its derivatives for 3 wheel steered type Automatic Guided Vehicles (AGV). The method is suggested that estimate with drive torque mass, momentum of inertia, position of mass center. It is validated through simulation that the estimation of dynamic system parameters has small error. The condition of no slip about 3 wheel type is suggested, and with using this condition, the method is suggested that generate proper velocity profile with no slip. And it also validated through simulation that regenerated velocity profile is profer trajectory with no slip.
Through above equations and methods, it is possible to make AGV which has low cost, high position accuracy, and high velocity in motion.
