AGV Rollover Stability Study: Key Factors and Optimization Strategies

1. Research Background: Safety in Intelligent Logistics

With the rapid development of intelligent logistics and warehouse automation, Automated Guided Vehicles (AGVs) have become widely used in material handling, path planning, and flexible transportation. However, under high-speed or heavy-load turning conditions, AGVs are prone to rollover incidents. These accidents compromise reliability and safety in industrial operations. Therefore, establishing a scientific rollover risk evaluation model is crucial for ensuring AGV stability.

2. Key Factors Affecting AGV Rollover Stability

1) Yaw Rate
As AGVs turn, increased yaw rate generates greater lateral acceleration. Research shows yaw rate is the most critical factor leading to rollover—especially during small-radius turns—where structural imbalances can trigger instability.

2) Center of Gravity Height
The higher the center of gravity (CG), the more significant the rolling moment during cornering. Simulation data indicates that a 200mm increase in CG height raises the lateral angle by approximately 1.12°, greatly reducing rollover stability.

3) Surface Friction Coefficient
Low surface friction (e.g., wet or polished floors) increases the risk of side slip and rollover. High friction surfaces, though improving grip, can also lead to sudden lateral forces during sharp turns. Dynamic adjustment of control parameters based on real-time road conditions is critical to ensuring safety.

3. LTR Index: An Effective Tool for Rollover Risk Evaluation

LTR (Lateral Load Transfer Ratio) provides a quantifiable method to assess AGV rollover tendencies. It is calculated as:
LTR = (F₁ - F₂) / (F₁ + F₂)
Where F₁ and F₂ represent the vertical forces on the outer and inner tires respectively.

Simulation results show:

• Higher yaw rate → Increased LTR → Higher rollover risk;

• Higher CG height → Larger LTR → Lower stability;

• Improper friction coefficient → LTR fluctuations → Loss of control risk.

4. Conclusions

Research conclusions:

1. Turning rate is the most important factor affecting the rollover stability of AGV, and it has the greatest impact on LTR.

2.Center of mass height is the second most important factor. For every 200 mm increase in center of mass height, the side slip angle increases by 1.12 degrees.

3.The impact of the road friction coefficient is relatively small, but under low friction conditions, AGV is more likely to slip and roll over.

Practical suggestions:

1. In the design of AGV, the center of mass height and load distribution should be optimized to reduce the risk of rollover.

2. In actual operation, the turning speed and acceleration of AGV should be reasonably controlled according to the road conditions and turning radius.

3. Use the side load transfer rate (LTR) index to dynamically evaluate the rollover risk of AGV, and adjust the operating parameters according to the changes in the LTR value.