Improve Path Following Efficiency for 4WD4WS Robot by Using Exponential Functions in Virtual Target Guidance Algorithm

Tan Pham Minh , Kien Dang Nam, Xuan Cao Thi Thanh

mobile robot, path following, four-wheel-drive/four-wheel-steer, virtual target guidance algorithm, kinematic control.

Most of the path following research for 4WD4WS mobile robots is conducted with two control loops, the kinematic loop and the dynamic loop. This article proposes a method using exponential functions in virtual target guidance algorithm to decrease the convergence time in the kinematic control loop and improve robustness over disturbances. The process of synthesizing the control law is strictly mathematically guaranteed. Simulations in Matlab visually represent the research results.

https://doi.org/10.31871/WJRR.19.1.1