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Trajectory planning for a four-wheel-steering vehicle

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2 Author(s)
Danwei Wang ; Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore ; Feng Qi

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.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference:

2001