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     2026:7/2

International Journal of Multidisciplinary Research and Growth Evaluation

ISSN: (Print) | 2582-7138 (Online) | Impact Factor: 9.54 | Open Access

Dynamic virtual target guidance algorithm for path following control of a 4WD4WS mobile robot

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Published:

Volume: 4 | Issue: 4 | Pages: 896-902

Subject: Engineering

Country: Vietnam

DOI: https://doi.org/10.54660/.IJMRGE.2023.4.4.896-902

License: CC BY 4.0

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Abstract

This paper presents a method of applying a combination of the dynamic virtual target guidance algorithm and sliding mode control (SMC) to control a four-wheel-drive/four-wheel-steer mobile robot (4WD4WS) to follow the trajectory with small curvature, based on visual information captured by a single camera. A kinematic model of four-wheel-drive/four-wheel-steer mobile robot were also present, the proposed controller ensure stability and robustness when operating under uncertainties and disturbances. The process of synthesizing control laws is strictly mathematically guaranteed. The simulation in Matlab shows the research results visually.

How to Cite This Article

Nam Kien Dang, Vu Nguyen (2023). Dynamic virtual target guidance algorithm for path following control of a 4WD4WS mobile robot . International Journal of Multidisciplinary Research and Growth Evaluation (IJMRGE), 4(4), 896-902. DOI: https://doi.org/10.54660/.IJMRGE.2023.4.4.896-902

Publication Information

Journal: International Journal of Multidisciplinary Research and Growth Evaluation (IJMRGE)

Publisher: Anfo Publication House

ISSN: (Print), 2582-7138 (Online)

Frequency: Bimonthly

Language: English

Open Access: Yes - This article is distributed under the terms of the Creative Commons Attribution 4.0 International License

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