Trajectory Tracking of a Four-Wheel-Steering Vehicle on Harsh Road

Abstract

Along with the development of technology, an increasing number of special unmanned vehicles are required to achieve complex mission. Trajectory tracking, as one of the key factors of unmanned technology, has emerged into engineer’s vision. Four-wheel-steering (4WS) is more flexible than front steering vehicle in many conditions. This study is focusing on achieving higher accurate trajectory tracking on complex ground with 4WS vehicle. The control of trajectory tracking can be obtained by using MPC method, adjusting front wheel angle and rear wheel angle independently. Computer simulations with 4WS dynamic model were used to support the analysis in this study. MATLAB/Simulink was also used to verify the reliability of the results. Finally, the control law of 4WS vehicle was tested on complex ground. By solving the problem of 4WS trajectory tracking, the backstepping algorithm exhibited higher efficiency and accuracy than traditional genetic algorithm. By solving the problem of 4WS trajectory tracking, the backstepping algorithm exhibited higher efficiency and accuracy than traditional algorithm. The process of 4WS vehicle trajectory tracking provides reference for relevant applications.