Control of a wheeled mobile robot with double steering

The motion of a vehicle with automated guidance (an AGV or a wheeled mobile robot) equipped with two steerable traction wheels in the front and rear is studied. Compared with a conventional form of these vehicles, there is some degree of redundancy in their system of path tracking. If this redundancy is utilized appropriately, there are certain advantages over the conventional vehicles in terms of their performance in path tracking. A scheme for steering control of this class of vehicle is proposed. Simulation results demonstrate the good performance of a vehicle controlled according to the proposed scheme