Kim, Seungmin (Korea University), Song, Young Eun (Korea University)

Integrated-Kinematic Modeling and Autonomous Navigation Performance Analysis of Four-Wheel Independent Steering Mobile Robot

Scheduled for presentation during the Regular Session "Smart Infrastructure & Collaborative Systems" (FrBT4), Friday, July 18, 2025, 15:00−15:20, Room 108

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

This research addresses last-mile delivery challenges using mobile robots, focusing on comparing the autonomous navigation characteristics of Ackermann and parallel driving modes. To optimize navigation performance in various environments with curbs, slopes, and rapid directional changes, we propose a 4-Wheel Independent Steering mobile robot that can switch between Ackermann and parallel steering modes. Our solution presents comprehensive kinematic modeling for both driving modes and implements them in the autonomous driving algorithm. We conducted extensive experiments comparing the navigation performance of both modes, particularly in scenarios requiring complex maneuvers. The experimental results demonstrate distinct characteristics of each mode, with Ackermann steering showing superior performance in continuous curved paths, while parallel mode excelling in lateral movements and tight space navigation. YAW value analysis and trajectory tracking data reveal specific advantages of each mode under different conditions, leading us to conclude that the selective application of these steering modes significantly enhances the adaptability and efficiency of mobile robots in last mile delivery services.