Low-speed distribution robot motion control method

The invention discloses a motion control method for a low-speed distribution robot, which realizes electromagnetic parking, in-situ rotation, omnidirectional translation and four-wheel steering motion modes, greatly improves the flexibility of the robot, and can cope with narrow and limited space. A vehicle body motion mathematical model is constructed, specifically, the positions of four wheels are A-D points, the center position of the axis of a front wheel is an E point, the original point of a plane rectangular coordinate system is located at the center O point of the whole vehicle, and a steering instantaneous center point P is set on the X axis. And under the condition that no motion instruction is issued, an electromagnetic parking mode is entered. In the omni-directional translation mode, the deflection angles of the four steering motors are all radius. In the in-situ rotation mode, the four points do circular motion with O as the circle center, and the turning radiuses are the same. In the four-wheel