Abstract
An improved pure pursuit path tracking algorithm is presented for a four-wheel steering (4WS) carrier vehicle to follow a desired path automatically. A bicycle vehicle model considering the 4WS carrier vehicles structural and steering features is applied in the method. Real vehicle tests in an open large outdoor warehouse showed that the lateral tracking error was less than 0.56m at 20km/h. And we can conclude that the enhanced method for 4WS vehicle has good tracking ability on flat road.
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