추측항법을 위한 4륜 조향차량의 kinematic model

초록

This paper presents a kinematic model for 4-wheel-steering(4WS) vehicle. This kinematic model is leaded from a front wheel steering model. The dead-reckoning method is applied to estimate the vehicle position from known position without absolute position update. The results of dead-reckoning are compared with the measurement from GPS working in Real-time Kinematics(RTK) to show the effectiveness of the proposed kinematic model.