Modelling of a 4WS4WD vehicle and its control for path tracking

This paper presents a dynamic model representing the rigid body motion of a four wheel steer and four wheel drive (4WS4WD) vehicle which also takes into account the rotational dynamics of the individual wheels as well as the tyre terrain interactions. It also presents a modified pursuit algorithm taking into account the kinematic constraints as well as a decentralized wheel propulsion control system. Simulation results are presented to show the model validation and the successful implementation of the path tracking algorithm.