書誌事項
- タイトル別名
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- Motion Control for an Autonomous Personal Mobility Based on Trajectory Prediction of Moving Objects on Shared Space
- シェアドスペース ニ オケル シュウヘン イドウブツ ノ キドウ ヨソク ニ モトズク ジリツ ソウコウ パーソナルモビリティ ノ ウンドウ セイギョ
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<p>In recent years, Personal Mobility (PM) has attracted attention as a new means of moving in behalf of foot or car. PM is small electric powered vehicle that runs at low speed, and hence has highly affinity with pedestrians. Therefore, it is suitable to use PM in a space called 'shared space' where pedestrians, cars, and so on coexist. Additionally, research on autonomous driving has also been actively carried out in order to enhance its convenience. In autonomous driving of PM in shared space, it is important to establish a motion control method for safely and comfortably avoiding pedestrians, cars and so on. Therefore, in this paper, we propose a motion control method of PM with trajectory prediction that enables safe and comfort obstacle avoidance. In this method, firstly, the future trajectory of the obstacle is predicted. Next, this predicted trajectory of the future is represented as an oblique prism on the three dimensional space-time temporal space consisting of x, y and time axes and the path and speed of the PM is controlled so as to avoid this oblique prism. Thus, it is possible to control the path and speed of the PM to avoid various obstacles safely based on prediction. From various simulation results, we show the effectiveness of the proposed method.</p>
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 57 (2), 67-77, 2021
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390850092191246976
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- NII論文ID
- 130007988029
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- NII書誌ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 031293318
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可