AGV小车常设计成三种运动方式：只能向前；能向前与向后；能纵向、横向、斜向及回转全方位运动。
AGV are often designed in three motion modes: only forward; forward and backward; longitudinal, lateral, oblique and rotary motion in all directions.
转向装置的结构也有三种：
There are also three types of steering gear structures:
(1) 铰轴转向式三轮车型。
车体的前部为一个铰轴转向车轮，同时也是驱动轮。转向和驱动分别由两个不同的电动机带动，车体后部为两个自由轮，由前轮控制转向实现单方向向前行驶。其结构简单、成本低，但定位精度较低。
(1) Articulated axle steering three-wheeled models
The front part of the car body is a hinged steering wheel, which is also the driving wheel. Steering and driving are driven by two different electric motors respectively. The rear of the car body is two free wheels, and the steering is controlled by the front wheels to achieve forward driving in one direction. The structure is simple and the cost is low, but the positioning accuracy is low.
AGV Articulated Axle Steering Three-wheeled Models
(2) 差速转向式四轮车型。
车体的中部有两个驱动轮，由两个电机分别驱动。前后部各有一个转向轮(自由轮)。通过控制中部两个轮的速度比可实现车体的转向，并实现前后双向行驶和转向。这种方式结构简单，定位精度较高。
(2) Differential steering four-wheeled models
There are two driving wheels in the middle of the car body, which are driven by two motors respectively. There is a steering wheel (free wheel) at the front and rear. By controlling the speed ratio of the two wheels in the middle, the steering of the car body can be realized, and the front and rear bidirectional driving and steering can be realized. This method has a simple structure and high positioning accuracy.
AGV Differential Steering Four-wheeled Models
(3)全轮转向式四轮车型。
车体的前后部各有两个驱动和转向一体化车轮，每个车轮分别由各自的电动机驱动，可实现沿纵向、横向、斜向和回转方向任意路线行走，控制较复杂。
(3) All-wheel steering four-wheel models
There are two integrated driving and steering wheels at the front and rear of the car body, each wheel is driven by its own electric motor, which can walk along any route in the longitudinal, lateral, oblique and turning directions, and the control is more complicated.
AGV All-wheel Steering Four-wheel Models
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