書誌事項
- タイトル別名
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- Backward Control of a Tractor-Trailer Vehicle (Part 1)-Path-Tracking Run Along Rectilinear Path-
- レンケツ シャリョウガタ イドウ ロボット ノ コウタイ セイギョ ニ ツイテ ダイ1ポウ チョクセン ケイロ エ ノ ツイジュウ ソウコウ
- Path-Tracking Run Along Rectilinear Path
- 直線経路への追従走行
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This paper dealt with path-tracking capability of a tractor-trailer vehicle type mobile robot in backward motion along a straight line applying the linear quadratic (LQ) control theory. The designed controller was mounted on the mobile robot and the real vehicle experiment was carried out using three types of ground surface. Moreover, the influence of configuration weighting was verified for the stability of the control system. It showed that the path-tracking run along straight path of tractor-trailer vehicle type mobile robot can be stabilized using the controller which chose suitable configuration weighting.
収録刊行物
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- 農業機械学会誌
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農業機械学会誌 68 (1), 104-110, 2006
農業食料工学会
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詳細情報 詳細情報について
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- CRID
- 1390282679289380736
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- NII論文ID
- 10017160320
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- NII書誌ID
- AN00200470
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- ISSN
- 18846025
- 02852543
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- NDL書誌ID
- 7793986
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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
- NDL
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可