Trajectory Planning for a FourWheelSteering （FourWheelSteering轨迹规划）.pdfVIP

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Trajectory Planning for a FourWheelSteering （FourWheelSteering轨迹规划）.pdf

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Trajectory Planning for a FourWheelSteering （FourWheelSteering轨迹规划）

Proceedings of the 2001 IEEE International Conference on Robotics Automation Seoul, Korea • May 21-26, 2001 Trajectory Planning for a Four-Wheel-Steering Vehicle Danwei Wang Feng Qi School of Electrical and Electronic Engineering Nanyang Technological University Singapore 639798, edwwang@ntu.edu.sg Abstract corresponding reference inputs to the trajectory tracking system so that the vehicle will move along a This paper develops a trajectory planning algorithm for a four-wheel-steering (4WS) vehicle based on vehicle specified path. The vehicle trajectory planning is not kinematics. The flexibility offered by the steering is as well researched as that of vehicle path planning, utilized fully in the trajectory planning. A two-part and to our knowledge, only several works [2] [4]- trajectory planning algorithm consists of the steering [12] addressed this problem. planning and velocity planning. The limits of vehicle mechanism and drive torque are taken into account. This paper develops a methodology that consists of Simulation results are presented to illustrate the so-called rotation planning and translation planning application of the proposed