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Abstract
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.
Introduction
Research works on Autonomous Guided Vehicles
(AGV) have been extensively carried out in the last
four decades, and still in the process of rapid
development at present. One application of AGV has
been explored in harbor automation operation.
Figure 1 shows an AGV for transporting cargo
containers in harbor area. In order to move in cluster
space within the harbor with flexibility, the vehicle
structure is designed so that all the four wheels can
be driven and steered individually. This kind of
vehicle is referred to as a Four-Wheel-Steering
(4WS) vehicle.