Intelligent automated driving system of articulated vehicle

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  • Uchibori Yuuki
    Graduate School of Systems and Information Engineering, University of Tsukuba
  • Shibuya Takeshi
    Faculty of Engineering, Information and Systems, University of Tsukuba
  • Yasunobu Seiji
    Faculty of Engineering, Information and Systems, University of Tsukuba

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Other Title
  • 中折れ構造型作業車両の知的制御による自動運転
  • ナカオレ コウゾウガタ サギョウ シャリョウ ノ チテキ セイギョ ニ ヨル ジドウ ウンテン

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Abstract

Ariticulated steering is a system which has front and rear body, connected them at center pin, and turns by the difference between angle of their body. Compared with front wheel steering and rear wheel steering, the turning radius of this type vehicle is small, and both front and rear wheel follow the same path. Such features enable this vehicle is suitable for working in construction. But this steering system is difficult to control the position and angle of the vehicle, because when we change the steering angle, the position and angle of the vehicle also changes. In this study, we propose automated driving system that consider the characteristics of articulated steering type vehicle.

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