Support for AGV with Rotatable Front and Rear Wheels Similar to Ackermann Steering

[flymaxty]

Hello,

I am interested in using teb_local_planner for controlling an AGV that has a steering mechanism similar to the Ackermann model. However, there's a significant difference: not only the front wheels can rotate, but the rear wheels can also rotate in a similar manner to the front wheels in the Ackermann model. This design means that the actual rotation center is located on the perpendicular line of the midpoint of the line connecting the front and rear wheels.

I have attached a schematic diagram of the vehicle for a better understanding. Given this unique steering mechanism, I am curious to know if it's possible to control this type of AGV by adjusting parameters specific to the Ackermann model within teb_local_planner, such as setting up the footprint or other relevant parameters.

Could you please advise if teb_local_planner can be configured to handle this type of vehicle dynamics? And if so, what parameters would need to be adjusted or what approach would you recommend for this scenario?

Thank you for your time and assistance.