Trajectory planning for a four-wheel-steering vehicle
Danwei Wang, Feng Qi · 2002
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.