132 外部マーカを利用したACVの直線及び円弧走行制御

概要

論文の詳細を見る
A kind of an air cushion vehicle (ACV) is known as a hovercraft which carries out a cruise by blowing off the air from the bottom of the body. The ACV has many advantages, such as amphibian vehicle, large payload, and so on. However, the ACV has drawbacks such as its drivability is bad. An improvement of the drivability is effective for the control of the ACV and the disturbance rejection performance of the controller is very significant. In this research, the position of the ACV is estimated with the image recognition using external maker by ARToolKit. Information on the marker is registered beforehand, the distance is requested from the size of the marker seen from the camera, and posture is requested from the shape of the marker. When the ACV runs on the straight and arc, the ACV is kept on the path by the designed controller. The usefulness of the designed controller is confirmed through the simulation and an experiment.
一般社団法人日本機械学会の論文
2011-09-05