In order to shorten the development and design cycle of automatic guided vehicle (AGV) in the warehouse logistics industry,the simulation model of the AGV was constructed.Based on the mass and the center of mass,the dynamic equation of differential driven AGV body was established by using Lagrange method.The motor part was analyzed,and the voltage response equation was established.By combining the above two equations,a complete dynamic model of differential driven AGV with variable load and mass center was finally established.Through MATLAB simulation,the speed response of the actual system was compared and analyzed.The results show that the response error of the designed complete dynamic model of differential driven AGV with variable load and mass center has in the same order of magnitude as that of the actual system,which verifies the correctness and feasibility of the complete dynamic model.