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The automated guided vehicles (AVGs) are normally used for the transport of materials, making great part in the manufacturing systems. This work aims at the study of the contact between ground and wheel in the AVG, thus applying the vehicle dynamics relative. For this, models of the contact between road and wheel had been made of AVG, in each model presents his considerations, simplifications and parameters as the cornering stiffness, the normal force and the sideslip. The models of the contact between road and wheel had been implemented in a multibodies program 2D and observed. The results of this work will be used in the construction of independent vehicles, because many AVGs don't take in consideration the dynamic behavior, they have a super dimension of engine so more weight and consumption of energy than they really need.