Trajectory planning for a four-wheel-steering vehicle

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 13 Nov 2002Publisher:IEEEJournal:Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), volume 4, pages 3,320-3,325

Authors: Danwei Wang; Feng Qi;

doi: 10.1109/robot.2001.933130

Trajectory planning for a four-wheel-steering vehicle

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Abstract

This paper develops a trajectory planning algorithm for a four-wheel-steering vehicle based on vehicle kinematics. The flexibility offered by the steering is utilized fully in the trajectory planning. A two-part trajectory planning algorithm consists of the steering planning and velocity planning. Limits of the vehicle mechanism and drive torque are taken into account. Simulation results are presented to illustrate the application of the proposed algorithm.

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Nanyang Technological University
Singapore

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