Motion Control of a 4WS4WD Path‐Following Vehicle: Further Studies on Steering and Driving Models

Abstract

Further research on motion control of a 4WS4WD path-following vehicle is carried out in this paper. Focuses are placed on understanding and testing the vehicle path-following control models developed previously at a deep level. Control models are in relation to parameters introduced, and the effects of these parameters are discovered. Control models are interpreted by dynamic simulation using a 3DOF vehicle model with three cases. Three kinds of planned paths are considered in these cases to test control performances, which include the straight, circular, and sinusoidal paths. Interesting dynamic results are obtained and analyzed qualitatively, e.g., various steering modes. Simulation studies are extended with consideration of a fine vehicle dynamic model established in CarSim and a complex path composed of straight and curved segments. Control models are examined in a complex problem, and results obtained show that they are validated with robustness in dynamic environment.

A Local Planner for Accurate Positioning for a Multiple Steer-and-Drive Unit Vehicle Using Non-Linear Optimization

“…One key difference here is how the controllers are coupled with the error directly between the current pose and corresponding static path and do not rely on horizon-based optimization, and the followed path is assumed to be free of obstacles. There are a large variety of path-following for cars, such as lateral control, which also is formulated for 4WS4WD (four-wheel-steering–four-wheel-driving) or 4WID (four-wheel-independent-drive) [ 21 , 22 ] and often focuses on more complex dynamics and stability at higher speeds and not on obstacle handling. Typically these car-like vehicles have a limitation on the amount of steering each wheel can undertake [ 23 ].…”