From Multi-Modal Paths to Executable Trajectories: A Trajectory Planning Framework for 4WIS Robots

2026-08-29

AI Summary

本文提出了一种多模式全局轨迹规划框架，通过结合前端搜索和后端分段轨迹优化，解决了4WIS机器人在复杂环境中轨迹质量不佳的问题。

Abstract

Four-wheel independent steering (4WIS) mobile robots support multiple motion modes, offering high maneuverability in narrow and complex environments. However, existing planning methods often fail to fully exploit these capabilities, leading to suboptimal trajectory quality. To address this limitation, this paper proposes a multi-modal global trajectory planning framework that couples mode-augmented front-end search with mode-consistent segment-wise trajectory optimization. In the front-end stage, Hybrid A* is extended to a four-dimensional state space incorporating motion modes, while mode-switching-aware cost and heuristic functions embed mode decisions into the global search process. Multi-modal Reeds-Shepp curves and an intelligent terminal connection strategy are further designed to improve search efficiency. In the back-end stage, a segment-wise trajectory optimization framework based on an improved iterative safe corridor scheme is developed to convert discrete multi-modal paths into smooth, kinematically feasible trajectories with stationary mode transitions. Experimental results show that the proposed method achieves the best overall performance in safety, arrival time, terminal accuracy and computation time. Real-world experiments on a physical 4WIS robot further validate the practical effectiveness and executability of the generated trajectories, providing a flexible and high-performance solution for multi-modal mobile robot trajectory planning.

Problem

• Four-wheel independent steering
• multi-modal paths
• trajectory planning
• maneuverability

Innovation

• Multi-Modal Global Trajectory Planning
• Mode-Augmented Front-End Search
• Segment-Wise Trajectory Optimization
• Improved Iterative Safe Corridor Scheme