التفاصيل البيبلوغرافية
| العنوان: |
経路の未来情報を利用した車輪型自立移動ロボットの経路追従制御 ; Path-Tracking of Wheeled Mobile Robot Using Preview and Predictive Control |
| المؤلفون: |
橋本, 幸男, HASHIMOTO, Yukio, ハシモト, ユキオ, 王, 碩玉, WANG, Shouyu, 土谷, 武士, TSUCHIYA, Takeshi, ツチヤ, タケシ, 松田, 敏彦, MATSUDA, Toshihiko, マツダ, トシヒコ |
| بيانات النشر: |
日本ロボット学会 |
| سنة النشر: |
1994 |
| المجموعة: |
Muroran Institute of Technology Academic Resources Archive / 室蘭工業大学学術資源アーカイブ |
| مصطلحات موضوعية: |
Path Control, Mobile Robot, Preview Control, Predictive Control, Tracking Control |
| الوقت: |
548 |
| الوصف: |
application/pdf ; This paper describes a method to make a wheeled mobile robot follow a given path just like a driver would decelerate the speed of a car before a corner and accelerate it on the straight course of the road. Two kinds of velocity vectors are introduced to determine an optimal direction and speed of the robot in order to follow the path. The velocity defined as a function of curvature of the path is mainly utilized to change the speed of the robot along the path. The other velocity given as the tangent of a virtual potential function produces an attraction force toward the path. Path tracking control of the robot is formulated with current and future sets of these velocity vectors in a frame of the digital preview and predictive control. By this method, the robust tracking performance is achieved. ; journal article |
| نوع الوثيقة: |
other/unknown material |
| وصف الملف: |
application/pdf |
| اللغة: |
Japanese |
| تدمد: |
02891824 |
| العلاقة: |
10006720056; https://www.jstage.jst.go.jp/article/jrsj1983/12/4/12_4_630/_pdfTest; 日本ロボット学会誌; 12; 630; 637; Journal of the Robotics Society of Japan; AN00141189; https://muroran-it.repo.nii.ac.jp/record/8874/files/12_4_630.pdfTest |
| الإتاحة: |
https://muroran-it.repo.nii.ac.jp/record/8874/files/12_4_630.pdfTest |
| حقوق: |
© 1994 日本ロボット学会 ; open access |
| رقم الانضمام: |
edsbas.19E0199D |
| قاعدة البيانات: |
BASE |
