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The maneuver control strategy of mobile robot with four steered independently driven wheels (4WS4WD) in rough terrain is rarely discussed. In this paper a approach of projection is adopted to get the equivalent maneuver radii and equivalent steering angles of a 4WS4WD mobile robot based on a arbitrary equivalent Instantaneous Center of Rotation-EICR, and the EICR is a vertical line on the plane of...
The deduction process of maneuver algorithm in explicit format for wheeled mobile robot with four-steered four--driven wheels (4WS4WD) is discussed in this paper. The approach adopted by this paper is the synthesis of all sub-section analytical geometry analysis. Based on the Instantaneous Center of Rotation (ICR), a generic maneuver algorithm has been presented. And the kinematical energy of the...
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