書誌事項
- タイトル別名
-
- A Control Algorithm Based on the Guide Segment Method in the Strict Area for a Car-Like Robot
- アンナイ センブンホウ ニ モトズク キョウリョウイキナイ ノ ジドウシャガタ イドウ ロボット ノ セイギョ アルゴリズム
この論文をさがす
抄録
This paper presents an algorithm for manipulating a car-like robot from the specified initial state to the goal state in a strict area. The algorithm contains three concepts. The first is the guide segment method which gives easy steering control by determining the lanes of neutral steering state. The second is the concept to use easy driving direction. After trial driving in easy direction, the algorithm produces reversal driving command sequence of target direction to follow the successive trial trajectory. The final is the recursive switch-back control to turn the robot in the tight area. The experimental result obtained by the algorithm shows to be excellent compared with the known result in a strict area. Moreover this approach seems to be robust for the variants of area.
収録刊行物
-
- 神戸大学大学院海事科学研究科紀要
-
神戸大学大学院海事科学研究科紀要 05 <商船・理工論篇> 51-58, 2008-07
神戸大学大学院海事科学研究科
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390290699903560832
-
- NII論文ID
- 110007128725
- 120001384718
-
- NII書誌ID
- AA12581493
-
- ISSN
- 21873232
- 21852804
-
- HANDLE
- 20.500.14094/81001094
-
- NDL書誌ID
- 9783076
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- IRDB
- NDL
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用可