RESUMO
Compared to omnidirectional wheel robots and Mecanum wheel robots, four-wheel independent steering (4WIS) robots are more efficient. In recent years, 4WIS robot become the best choice for high-speed maneuverable mobile robots. However, the delay of the steering motor action and the control command exceeding the maximum speed of the steering motor make it difficult for the 4WIS robot to perform high-precision high-speed trajectory tracking. This paper proposes a high-speed trajectory tracking method combining the dynamics of the 4WIS robot. The A* algorithm is used for path planning, and then combined with the robot dynamics performance for trajectory planning. A 4WIS robot kinematics model and a model predictive control (MPC) controller with dynamic constraints are established. Simulations and experiments support the effectiveness and practicability of the trajectory tracking method. The high-speed trajectory tracking control of the 4WIS robot is realized.
