Wheel Unit for Automated Guided Vehicle, and Automated Guided Vehicle

An automated guided vehicle (AGV), comprising:

• a wheel unit, the wheel unit comprising:
• a base structure;
• a steering structure rotatable relative to the base structure around a vertical steering axis;
• and
• a wheel supported by the steering structure and rotatable relative to the steering structure around a horizontal wheel axis;
• wherein the wheel unit comprises:
• a force device arranged to force the base structure and the steering structure away from each other along the steering axis;
• and
• a sensor arranged to sense a rotational position of the steering structure relative to the base structure around the steering axis and an axial position of the base structure relative to the steering structure along the steering axis.