317 前輪および後輪基準SSM軌道誘導方式によるロボット車両の走行特性

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 articulation 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 with SSM is demonstrated an accurate line following at low speed and a drift cornering at high speed moving. This paper is derived front and rear wheel basis SSMs for the arbitrary position of articulated joint. In order to demonstrated the dynamical characteristics of the vehicle controlled by SSMs, an experimental vehicle is developed and tested on the evaluation course which is used previous papers. Experimental data show that SSMs achieve at high-speed and maintain stability on the test course.
一般社団法人日本機械学会の論文
2011-09-05