Path following control for four-wheel-drive/four-wheel-steer mobile robot (4WD4WS) by front and rear independent driving method.
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https://doi.org/10.54939/1859-1043.j.mst.FEE.2023.21-28Keywords:
Mobile robot; Path following; Four-wheel-drive/four-wheel-steer; 4WD4WS; Virtual target guidance algorithm.Abstract
The majority of traction studies for 4WD4WS active four-wheel-drive robots are conducted with the kinematics of simpler configurations, which reduce the robot's maneuverability and flexibility. This paper proposes a method of geometric dynamic control for the robot with the ability to better utilize the superior kinematics of the 4WD4WS robot, which is the independence of the front wheels from the rear wheels. The process of synthesizing control laws is strictly mathematically guaranteed. The simulation in Matlab shows the research results visually.
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