画像情報を用いた ACV の円弧走行制御

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タイトル別名
  • Arc Run Control of the ACV with Image Information

抄録

A kind of an air cushion vehicle (ACV) is known as a hovercraft which carries out a cruise by blowing off the air from the bottom of the body. A hovercraft has many advantages. For example, because a film of air is made between a body and the ground, it is amphibious, and the air resistance is small. A required thrust is also small. Therefore there is an advantage to be able to increase a load weight for a body weight. However, the ACV has drawbacks such as its drivability is bad. A speed and an attitude of the ACV may change by a wind and/or the slant of the run road surface. An improvement of the drivability is effective for the run of the ACV and the disturbance rejection by using the control is very significant. The purpose of this research is the development of the estimation method for a position and attitude of the ACV using an image processing technology and run of the ACV on the target trajectory. In this research, the position and the attitude of the ACV is estimated by detecting the arc line on the ground with Kinect. The result of this research is compared with the previous result based on the external marker. An H∞ optimal controller is designed by Simulink. The usefulness of the detecting method and the designed controller is confirmed through an experiment.

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