書誌事項
- タイトル別名
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- 2P1-N02 Automatic control of fast driving vehicle with wall-contacting roller bumpers in underground narrow roads : Development of differential four-wheel vehicle and automatic driving system, and basic experiment of wall-contact impact evaluation
説明
To increase the speed of automatic transporting vehicles in underground narrow roads, we propose a differential four-wheel vehicle that allows contacts to the wall using roller bumpers. A one-tenth scale model is developed for a feasibility study. Using the model, basic experiments to evaluate the impact of wall-contact have been conducted. Wall-contacting running is realized by offsetting the target path to wall. The results of the experiment reveal the possibility of the travel utilizing the wall without a large impact. The additional basic experiments have been conducted to evaluate the running in situations where position noise is added. The results of the experiment showed that driving utilizing the wall as guide structure enables a stable travel even in situations where position information contains severe error.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2015 (0), _2P1-N02_1-_2P1-N02_4, 2015
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282680918761216
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- NII論文ID
- 110010055811
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可