328 SSMによる後輪操舵車両ロボットの軌道誘導特性

概要

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This paper proposes SSM (Sensor Steering Mechanism) for lateral guided vehicle with rear wheel steer mechanism. Author demonstrated the geometry of SSM for the front wheel steer type and the reverse phase four-wheel steer type one. SSM presents a stable lateral guiding performance for automated vehicle which follows a straight and curved path created by guideway. The other hand, SSM is not established for a rear wheel steer type vehicle. Rear wheel steer vehicles are forklifts and backward moving of the conventional motor vehicles of which steering wheels are located at the front. SSM for the rear wheel steer vehicles enables a forklift to automated moving on every spaces, if the control method by SSM is established. This paper leads SSM relation for a rear wheel steer vehicle and constructs an experimental robotic vehicle with proposed SSM. Simulated and experimental data show the advantages of proposed SSM.
社団法人日本機械学会の論文
2008-09-02