Path following calibration for four-wheel-drive/four-wheel-steer mobile robot (4WD4WS) by referrence objects

  • Đặng Nam Kiên Institute of Military Technical Automation, Academy of Military Science and Technology
  • Nguyễn Vũ Faculty of Electrical Engineering, Hanoi University of Industry
  • Nguyễn Thành Trung Military Medical Hospital 108
Keywords: Mobile robot; Path following; Four-wheel-drive/four-wheel-steer; 4WD4WS.

Abstract

In this paper, a method of applying the virtual target targeting algorithm to control the four-wheel-drive/four-wheel-steer mobile robot (4WD4WS) to follow the trajectory, based on information about the actual position of the robot by reference objects along the trajectory is presented. The kinematics of the four-wheel-drive/four-wheel-steer mobile robot was also studied in detail, ensuring the system's stability when operating with speed and direction constraints for each wheel. The process of synthesizing control laws is strictly mathematically guaranteed. The simulation in Matlab shows the research results visually.

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Published
2023-02-28
Issue
Vol. 85 (2023)
Section
Overview