DocumentCode
3233307
Title
Trajectory planning for a four-wheel-steering vehicle
Author
Wang, Danwei ; Qi, Feng
Author_Institution
Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
Volume
4
fYear
2001
fDate
2001
Firstpage
3320
Abstract
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.
Keywords
kinematics; path planning; position control; road vehicles; four-wheel-steering vehicle; steering planning; trajectory planning; vehicle kinematics; velocity planning; Automotive engineering; Axles; Kinematics; Path planning; Remotely operated vehicles; Technology planning; Torque; Trajectory; Vehicle driving; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933130
Filename
933130
Link To Document