Introduction to a Motion Control Algorithm for the Autonomous 4-Wheel Steering Vehicle

This paper introduces a motion control algorithm for an autonomous four-wheel steering(4WS) vehicle system, which independently controls the steering angles of the front and rear wheels. This capability allows for three distinct driving modes: front steering mode, crab steering mode, and symmetrical steering mode. The proposed algorithm effectively uses these modes to achieve precise maneuverability, facilitating accurate navigation toward the target location. We conducted a kinematic analysis of the four-wheel steering vehicle, with a focus on its motion characteristics. A simple motion control law is developed using the kinematic analysis and the steering mode transition of the 4WS vehicle. To validate the feasibility and effectiveness of the proposed algorithm, initial numerical simulation results are presented.