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))

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タイトル別名
  • 2A2-R12 Steering Characteristics Adjustment based on the Driving Skill of the Personal Vehicle "STAVi"(Wheeled Robot / Tracked Vehicle (2))

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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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