Maneuvering strategies for four-wheel drive, four-wheel steer mobile robots using curvatures based on Weingarten-Maps

Yalcin M. K., Yeşiloğlu S. M., Dal M., Temeltaş H.

32nd Annual Conference of the IEEE-Industrial-Electronics-Society, Paris, France, 7 - 10 November 2006, pp.5052-5053 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Paris
  • Country: France
  • Page Numbers: pp.5052-5053
  • Istanbul Technical University Affiliated: Yes


Using the method known as Weingarten map, instantaneous center of rotation (ICR) of a four-wheel-drive & four-wheel-steer (4WD/4WS) mechanism is obtained for a predefined path. Kinematical model is obtained based on multiple manipulators with constraints on a common base approach.