Cooperative Four-Wheeled Robot Control Research for Variable Curvature Roads

As urban traffic networks become more intricate, the frequency of traffic accidents increases. Traditional virtual queue technologies are not adequate for vehicles to access real-time road information. Especially when dealing with roads with changing curvature, existing systems struggle to achieve immediate and accurate monitoring of the surrounding environment, which leads to multiple driving challenges. To this end, this study introduces an adaptive time-varying predictive control algorithm based on B-spline curves combined with an intelligent cruise control function, aiming to optimise the performance of a four-wheeled robot when facing different curvature road sections. The experimental results demonstrate that the recognition accuracy of road curvature can be effectively improved by this new method, while reducing the problem of control error accumulation due to the rapid change of speed and curvature, thus avoiding the occurrence of sending wrong commands to the vehicle.