2A2-R12 Steering Characteristics Adjustment based on the Driving Skill of the Personal Vehicle "STAVi"(Wheeled Robot / Tracked Vehicle (2))

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  • 2A2-R12 パーソナルビークルSTAViの操作熟練度に応じた操縦特性の調整(車輪型/クローラ型移動ロボット(2))

Abstract

Recently, front drive type personal vehicle "STAVi" which is easy for handicapped persons to get on has been focused on. However, STAVi is difficult to control, because it has over-steering characteristic. If STAVi can be driven by easy stick operation, it will be a comfortable function for all drivers. In previous studies, we proposed a modeling error compensator which achieves same driving characteristics in spite of driver's or vehicle parameters, and improved the driving performance by adjusting reference model for expert drivers. We are developing a driving assist filter which improves driving performance of STAVi in spite of driver's skill such as beginner. In this paper, we propose a novice filter for beginners to adjust the response depending on the skill level of the driver's operation. The effectiveness is evaluated by driving experiments on slope.

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