{"ID":2873807,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.06115","arxiv_id":"2509.06115","title":"Hybrid A* Path Planning with Multi-Modal Motion Extension for Four-Wheel Steering Mobile Robots","abstract":"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.","short_abstract":"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...","url_abs":"https://arxiv.org/abs/2509.06115","url_pdf":"https://arxiv.org/pdf/2509.06115v3","authors":"[\"Runjiao Bao\",\"Lin Zhang\",\"Tianwei Niu\",\"Haoyu Yuan\",\"Shoukun Wang\"]","published":"2025-09-07T15:55:12Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}