Trajectory planning for a four-wheel robot using decomposition-coordination principle

This paper addresses the problem of trajectory planning for a four-wheel robot while taking into consideration its kinematic and dynamic constraints. The process begins first, by determining a model for the robot, then solving the nonlinear equation using the decomposition-coordination principle which allows the nonlinearity to be treated at a local level. The coordination is gained by using the Lagrange multipliers. A numerical application is presented to highlight the advantages of the approach we use in this paper.