3303 任意の屈曲位置を持つアーティキュレート式車両の軌道誘導SSMの設計法(OS8 無人化・遠隔監視,次世代物流システム・建設機械,オーガナイズド・セッション(OS))

概要

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This paper proposes SSM(Sensor Steering Mechanism) for a lateral guided vehicle with an articulated body which has an arbitrary position of bending joint. The last paper shows the SSM for an articulated vehicle with a bending joint located at the center of its wheel base. The articulated robotic vehicle designed by SSM is demonstrated an accurate line following at low speed and a drift cornering in the corner at high speed moving. This paper leads SSM for an articulated vehicle with an arbitrary position of bending joint and constructs an experimental robotic vehicle controlled by the proposed SSM. The experimental data show the advantages of proposed SSM.
2010-12-01