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

arXiv · AI, language, vision and robotics · article · Aug 29, 2026 · UTC

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-swi

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