Autonomous Navigation and Path Optimization for 4WS4WD Robots

  1. Sourabh Subhash Rajput
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Abstract

This study presents a four-wheel-steering, four-wheel-drive (4WS4WD) robot designed for autonomous exploration in unknown environments. The system integrates SLAM, global path planning, and a dynamic local path adjustment method for efficient navigation. A fuzzy logic controller enhances maneuverability using counter-steering and crab-steering. Experimental results in simulation and real-world settings demonstrate robust mapping, obstacle avoidance, and path optimization, contributing to improved autonomous vehicle navigation in unstructured terrains.

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  1. Version published to 10.21203/rs.3.rs-8716052/v1 on Research Square