A Comprehensive Review of Four-Wheel Independent Drive and Steering Systems: Integrating Double Ackermann Kinematics, Advanced Trajectory Tracking, and Active Safety
DOI:
https://doi.org/10.61961/injei.v3i1.84Keywords:
Double ackermann · 4WS robots · Ackermann robotsAbstract
The transition from conventional front-wheel steering to over-actuated four-wheel independent steering and driving architectures has fundamentally redefined the limits of robotic mobility in constrained environments. Among these configurations, the double Ackermann geometry has emerged as the optimal solution to minimize lateral slip and enable advanced non-holonomic maneuvers, such as pure lateral crabbing and zero-radius turning. However, the redundant degrees of freedom introduce severe complexities in multibody dynamic modeling and optimal torque allocation. This paper presents a comprehensive review of the scientific literature published between 2016 and 2026 regarding the modeling, trajectory tracking, and safety integration of these highly agile platforms. We deconstruct the mathematical foundations used in contemporary research, highlighting the application of Newton-Euler laws for high-fidelity 3-DOF and 7-DOF dynamic modeling and the utilization of Bolzman-Hamel theory to manage non-holonomic constraints through local quasi-velocities. Furthermore, we analyze the evolution of high-level control architectures, emphasizing the consolidation of linear time-varying model predictive control for handling hard actuator constraints, and the recent breakthroughs in deep reinforcement learning, specifically utilizing group intelligent experience replay to overcome sample inefficiency in continuous action spaces. The review also synthesizes critical low-level safety mechanisms, including load transfer ratio monitoring for active rollover prevention and fault-tolerant control for steer-by-wire systems. By correlating these theoretical advancements with field applications in precision agriculture, underground mining, and planetary exploration, this review provides a consolidated roadmap for addressing the remaining challenges in domain adaptation and real-time edge computing for the next generation of autonomous terrestrial systems.
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