PID制御を用いたモデル誤差抑制補償器と拡張カルマンフィルタによるスキッドステア型車両の操縦支援制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2016/05/01

タイトル(英語): Driving Assistance Control of Skid Steer Vehicle by using Model Error Compensator with PID Control and Extended Kalman Filter

著者名: 宮本　洋孝（熊本大学），田中　友樹（熊本大学），岡島　寛（熊本大学），松永　信智（熊本大学）

著者名(英語): Hirotaka Miyamoto (Kumamoto University), Tomoki Tanaka (Kumamoto University), Hiroshi Okajima (Kumamoto University), Nobutomo Matsunaga (Kumamoto University)

キーワード: 福祉車両，操縦支援，スキッドステア車両，モデル誤差抑制補償器，拡張カルマンフィルタ　　Welfare vehicle，Maneuvering assistance，Skid steer vehicle，Model Error Compensator，Extended Kalman Filter

要約(英語): Recently, welfare vehicles are widely used by patients and elders. Many welfare vehicles are restricted to drive indoor or on a flat road. The vehicle with free casters can not be driven well when the road surface is rolling outdoors. To design compact welfare vehicles for outdoor use at low cost, the skid steer mechanism is focused on. The skid steer vehicle (SSV) is well known for its high traveling ability on an off-road. However, the SSV has disadvantage that the maneuvering assistance is required because its steering is highly affected by road condition. This study aims a steering assistance of SSV for patients and elders by using Model Error Compensator (MEC) that suppresses the modeling error by traditional PID control. The proposed controller consists of MEC and Extended Kalman Filter to reduce the sensor and the system noise assuming the undulating and skiddy roads. The effectiveness of the proposed control system is verified by the driving simulation considering the drivers weight and the road conditions.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.136 No.5 （2016） 特集：PID制御ベースのコントローラの高機能化アプローチ

本誌掲載ページ: 642-649 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/136/5/136_642/_article/-char/ja/