Behavior-based steering control for four wheel independent steering vehicle

Abstract

This paper proposed a behavior-based steering controller for four wheel independent steering vehicle. The proposed controller acts as virtual linkages among each wheel to minimize wheel slip resulted by the misalignment of the orientations of wheels effectively. As there is no trajectory planning needed in the control algorithm, the proposed controller is especially suitable for non-autonomous vehicle which the driving path cannot be pre-determined. Numerical simulations to examine the performance of the proposed controller are implemented. Results show the effectiveness and robustness of the proposed behavior-based controller.