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けん引車両系の後退直線軌道追従制御における特異点回避手法とFastSLAMによる実現

けん引車両系の後退直線軌道追従制御における特異点回避手法とFastSLAMによる実現

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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: 2019/04/01

タイトル(英語): Performance Improve Method for Backward Path-Tracking Control of an Articulated Vehicle and its Implementation Using FastSLAM

著者名: 藤本 真巳子(兵庫県立大学 工学研究科),名和 賢(三菱電機(株) 姫路製作所),川口 夏樹(兵庫県立大学 工学研究科),荒木 望(兵庫県立大学 工学研究科),佐藤 孝雄(兵庫県立大学 工学研究科),小西 康夫(兵庫県立大学 工学研究科)

著者名(英語): Mamiko Fujimoto (Graduate School of Engineering), Satoru Nawa (Mitsubishi Electric Corpration), Natsuki Kawaguchi (Graduate School of Engineering), Nozomu Araki (Graduate School of Engineering), Takao Sato (Graduate School of Engineering), Yasuo Konishi (Graduate School of Engineering)

キーワード: けん引車両,後退直線追従制御,FastSLAM  articulated vehicle,backward pass tracking,FastSLAM

要約(英語): This paper considered a backward path-tracking control method for an articulated vehicle. One of the most effective method in this research area is the exact feedback linearization based approach. Although this method can design the control law systematically, the controller has singular point that the control law cannot be defined. One such a singular point is the situation which the angle between a tractor and a trailer is the right angle. To avoid such an uncontrollable situation and improve the control performance, we proposed a method which is added a new input to the exact feedback linearization controller. This additional input constraints the change of the angle and avoids the vehicle to approach the singular point. The stability of the additional input was discussed by the Lyapunov's direct method. To confirm the effectiveness of our proposed method in actual use, we carried out the tractor-trailer model experiment. In this experiment, the FastSLAM method was employed to estimate the location of the model. The experimental result indicated that our proposed method was fasible even if the actual system.

本誌: 電気学会論文誌C(電子・情報・システム部門誌) Vol.139 No.4 (2019) 特集:スマートシステムと計測・制御技術

本誌掲載ページ: 305-312 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/139/4/139_305/_article/-char/ja/

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