A New Path Tracking Algorithm for Four-Wheel Differential Steering Vehicle

Four-wheel differential steering vehicles are increasingly used in our lives, but there are few studies on the path tracking of four-wheel differential vehicles. According to the circular motion model of the differential steering vehicle, the pure-pursuit algorithm which was generally used in the front wheel steering vehicle is applied in this paper. In the process of experimental research, we used the integrated navigation system to record the vehicle’s real-time positioning and tracking points, found that the error in the positioning process had an impact on the tracking effect. In order to reduce the impact of GPS record point data fluctuation on the tracking effect, a method to optimize the target path by minimizing lateral deviation and course deviation is proposed in this paper, which makes the target path easier to be tracked. Based on the established vehicle model and the pure tracking algorithm and the tracking curve optimization algorithm, we designed a new path tracking algorithm suitable for four-wheel differential steering vehicle, and conducted the linear and curve tracking experiments. Experimental results show proposed algorithm have extremely great tracking performance, which verifies the feasibility and effectiveness of the algorithm.