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The steering wheel provides both traction (drive) and active steering, so a steering wheel has two degrees of freedom. The AGV can use one or more steering wheels to achieve omnidirectional movement: lateral movement, longitudinal movement, in-situ rotation, oblique movement, etc. The steering wheel is generally used in an indoor environment with better ground conditions, so the material of the wheel surface is mostly polyurethane. The motion accuracy of the steering wheel determines the repeatability of the AGV, so the quality of the steering wheel has an important impact on the performance of the AGV.