1B15 Path-generating regulator along a straight passage for car-like robots(The 12th International Conference on Motion and Vibration Control)

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  • HANAJIMA Naohiko
    College of Design and Manufacturing Technology, Muroran Institute of Technology
  • YANG Bo
    Division of Mechanical Systems and Materials Engineering, Muroran Institute of Technology
  • LUO Wei
    Division of Mechanical Systems and Materials Engineering, Muroran Institute of Technology
  • DAI Jun
    Division of Production and Information Systems Engineering, Muroran Institute of Technology
  • TAKASHIMA Akihiko
    Department of Mechanical Enqineerinq, Hokkaido University of Science

説明

This paper proposes extension of the path-generating regulator (PGR) to a tracking problem along a straight pas- sage for car-like robots. The PGR is a control method for a vehicle so as to orient its heading toward a tangent to one of the curves belonging to a family of path functions. Originally, it applies to the navigation problem so that the vehicle moves and stops at the origin in the direction of horizontal axis in a Cartesian coordinate system. First, we extend it to the tracking problem along a straight passage. This is accomplished by modifying the family of path functions and taking the horizontal axis on the center line of the straight passage. Next, we discuss the convergent property using Lyapunov's method and derive the condition that the vehicle speed should satisfy. To avoid collision with the boundary of the passage, such as a wall, the PGR automatically produces the motion so that the vehicle goes backward and then performs a Y-turn. Numerical simulations show that the proposed PGR has not only convergence properties, but also robustness against these disturbances. It is also pointed out that the steering angle limitation degrades the performance of the PGR.

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