Hybrid A* Path Planning with Multi-Modal Motion Extension for Four-Wheel Steering Mobile Robots
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866917179487682560 |
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| author | Bao, Runjiao Zhang, Lin Niu, Tianwei Yuan, Haoyu Wang, Shoukun |
| author_facet | Bao, Runjiao Zhang, Lin Niu, Tianwei Yuan, Haoyu Wang, Shoukun |
| contents | Four-wheel independent steering (4WIS) systems provide mobile robots with a rich set of motion modes, such as Ackermann steering, lateral steering, and parallel movement, offering superior maneuverability in constrained environments. However, existing path planning methods generally assume a single kinematic model and thus fail to fully exploit the multi-modal capabilities of 4WIS platforms. To address this limitation, we propose an extended Hybrid A* framework that operates in a four-dimensional state space incorporating both spatial states and motion modes. Within this framework, we design multi-modal Reeds-Shepp curves tailored to the distinct kinematic constraints of each motion mode, develop an enhanced heuristic function that accounts for mode-switching costs, and introduce a terminal connection strategy with intelligent mode selection to ensure smooth transitions between different steering patterns. The proposed planner enables seamless integration of multiple motion modalities within a single path, significantly improving flexibility and adaptability in complex environments. Results demonstrate significantly improved planning performance for 4WIS robots in complex environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_06115 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Hybrid A* Path Planning with Multi-Modal Motion Extension for Four-Wheel Steering Mobile Robots Bao, Runjiao Zhang, Lin Niu, Tianwei Yuan, Haoyu Wang, Shoukun Robotics Systems and Control Four-wheel independent steering (4WIS) systems provide mobile robots with a rich set of motion modes, such as Ackermann steering, lateral steering, and parallel movement, offering superior maneuverability in constrained environments. However, existing path planning methods generally assume a single kinematic model and thus fail to fully exploit the multi-modal capabilities of 4WIS platforms. To address this limitation, we propose an extended Hybrid A* framework that operates in a four-dimensional state space incorporating both spatial states and motion modes. Within this framework, we design multi-modal Reeds-Shepp curves tailored to the distinct kinematic constraints of each motion mode, develop an enhanced heuristic function that accounts for mode-switching costs, and introduce a terminal connection strategy with intelligent mode selection to ensure smooth transitions between different steering patterns. The proposed planner enables seamless integration of multiple motion modalities within a single path, significantly improving flexibility and adaptability in complex environments. Results demonstrate significantly improved planning performance for 4WIS robots in complex environments. |
| title | Hybrid A* Path Planning with Multi-Modal Motion Extension for Four-Wheel Steering Mobile Robots |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2509.06115 |