2P2-E24 不整地走行二輪車に対する軌道計画

概要

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This paper describes path planning for bicycle-type robot on rough terrain. A bicycle-type is so compact and mobile to rescue victims at disaster area. Unmanned bicycle-type robot needs a path planning to go through rough terrain safely without tumbling. To achieve it, we model rough terrain using Digital Elevation Model (DEM) and three dimension spline curve. On the model, we design the geometrical value function to evaluate how easily to go through the path. The value function is applied on Particle Swarm Optimization (PSO) which is an optimizing method using random numbers. In addition, considering dynamics of the bicycle, we add a friction term which evaluates the friction force between tires and ground to the value function. And we confirm its effectiveness using computer simulation.
一般社団法人日本機械学会の論文