Trajectory planning for a four-wheel-steering vehicle

被引：0

作者：

Wang, DW ^{[1
]}

Qi, F ^{[1
]}

机构：

[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore

来源：

2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2001年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper develops a trajectory planning algorithm for a four-wheel-steering (4WS) 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. The limits of vehicle mechanism and drive torque are taken into account. Simulation results are presented to illustrate the application of the proposed algorithm.

引用

页码：3320 / 3325

页数：6

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