Abstract
In this paper we present the kinematic analysis of four-wheel steering (4WS) vehicles. This analysis is introduced first by considering the two-wheel (bicycle) model of the vehicle and afterwards the four-wheel model of the vehicle. For each model we present the analysis first when the sideslip angles of the wheels are negligible and then by considering the sideslip angles of the wheels. In order to permit comparison of these results with those of the 2WS vehicle we remind also the kinematic analysis of 2WS vehicles. We also compare the turning radius of 4 WS vehicles to the turning radius of 2WS vehicles.