A Path Planning Method for the Four-Wheel Steering Mobile Robot
Ming Huang, Yu Hui Wen, Ze Liu, Ting Lan · 2025
The motion of four-wheel steering (4WS) robots is constrained by factors such as steering angle limitations and motion mode constraints, making it challenging for traditional path planning algorithms to effectively adapt to this robot model. To address these issues, this study thoroughly analyzes the motion modes of 4WS robots and proposes the Four-Wheel Steering TEB (FWS- TEB) algorithm, based on the traditional Timed Elastic Band (TEB) algorithm. By incorporating 4WS kinematic constraints and path-planning strategies, the proposed method is evaluated in a simulation environment. Experimental results demonstrate that the FWS- TEB algorithm optimally utilizes the advantages of the 4WS chassis, ensuring a high degree of continuity in steering angles during motion. Compared to the traditional TEB algorithm, FWS- TEB generates more efficient paths for 4WS robots in various unstructured environments, significantly enhancing their motion performance in complex scenarios.