制限領域における切り返しのある駐車制御アルゴリズム

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タイトル別名
  • Parking Control Algorithms with Switchbacks in the Restricted Area
  • セイゲン リョウイキ ニオケル キリカエシ ノ アル チュウシャ セイギョ アルゴリズム

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抄録

This paper presents constructive algorithms to control a car with limited yaw rate from a specified initial state to the goal state. In order to turn the car in the tight area effectively, the method uses switch-backs controlling the steering angle to neutral at the area border. And the method uses an appropriate guide segment which is derived from the reverse driving trajectory near the goal. When the car reachs at the guide segment with steering angle of neutral state, the reversal driving commands lead to the goal.

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