306 SSM軌道誘導アーティキュレート式ロボット車両の操舵遅れと走行特性(移動ロボット,OS-17 ロボットのダイナミクスと制御,総合テーマ「伝統を,未来へ!」)

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This paper discusses SSM (Sensor Steering Mechanism) for lateral guided vehicle with an articulated body which is allowing the vehicle to change moving directions. The last paper demonstrates the geometry of SSM for the articulated vehicle of which bending joint is located at the center of wheel base. SSM presents a stable lateral guiding characteristics for automated vehicle which follows a straight and curved path created by guideway. A control system of articulated robotic vehicle is constructed with a line following controller and an articulation angle controller. The former outputs a target angle of articulation angle of body and the latter controls the articulation joint by a PD control law. The PD controller exists a control delay. This paper is focuses on the control delay of articulation joint controller and reconstructs an experimental robotic vehicle used in previous paper to improve the control performance. The effectiveness of control delay is demonstrated by the simulated and experimental data.
2010-09-14