Motion planning for 4WS vehicle with autonomous selection of steering modes via an MIQP-MPC controller
Ngoc Thinh Nguyen,Pranav Tej Gangavarapu,Nicolas Mandel,Ralf Bruder,Floris Ernst,Ngoc Thinh Nguyen,Pranav Tej Gangavarapu,Nicolas Mandel,Ralf Bruder,Floris Ernst
Navigation in agricultural fields imposes various constraints on manoeuvrability, which can be tackled by using four-wheel steering (4WS) vehicles which are capable of switching between multiple steering mechanisms with distinct kinematic properties. For example, parallel positive steering (PPS) with four wheels in parallel to each other can maintain the vehicle’s heading when moving along a curve...
