Path Planning and Smoothing for 4WDs Hydraulic Heavy-Duty Field Robots

This paper discusses the path planning and path-following control for a four wheel drive (4WD), steer-articulated boom lift driven by hydraulic actuators. The environment is assumed to be both static known. will done in two phases, where first one finds crude, collision-free accounting vehicle dimensions, this smoothed with smoothing algorithm satisfy kinematic dynamic constraints imposed its chosen from several candidates using simulated test scenario. Then, simulation results used verify planners feasibility heavy-duty, four-wheel-steered field robots having actuators high inertia.