Maneuver Control of a Four-Wheel Differentially Driven Robot Based on Instantaneous Center of Rotation

The four-wheel differentially driven mobile robot adjusts its position and orientation by controlling the rotating speeds of four wheels. Proper four wheel speed coordination is important to reach the desired speed and trajectory , and will not cause damage to the mechanical structure. In this paper, considering the robot structure parameters and path geometric constraints, we establish the relationship between turning radius, the robot's velocity at the center of gravity (COG) and the rotating speeds of four wheels. In addition, the relationship between the yaw rate and the slip angle and the above three variables is alse established. Those relations are all based on the theory of instantaneous center of rotation (ICR). Simulative results verify them correctness and will not do damage to mechanical structure.

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