Maneuvering Strategies for Four-Wheel Drive, Four-Wheel Steer Mobile Robots Using Curvatures Based on Weingarten-Maps

Using the method known as Weingarten map, instantaneous center of rotation (ICR) of a four-wheel-drive & four-wheel-steer (4WD/4WS) mechanism is obtained for a predefined path. Kinematical model is obtained based on multiple manipulators with constraints on a common base approach