案内線分法に基づく狭領域内の自動車型移動ロボットの制御アルゴリズム(商船・理工論)

概要

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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.