Motion control for vehicle with unknown operating properties -on-line data acquisition and motion planning

Kazuya Okawa, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper describes a sequence of methods for controlling the vehicle with unknown operating properties, such as an air cushion vehicle, a submarine and an airship. We took up Air Cushion Vehicle (ACV) as an example of such a vehicle, and studied its motion planning based on acquired data. ACV in this paper has three simple unit motions (left-turn, right-turn and an advance), and can execute one of the unit motions optionally. After the execution, ACV measures its own position by itself and acquires data of how it moved in the real environment. Then it plans the motion that arrives at a target position using the acquired data. In this paper, we propose a sequence of these approaches and show the effectiveness of them by experiments.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3409-3414
Number of pages6
Volume3
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

Other

Other2003 IEEE International Conference on Robotics and Automation
CountryTaiwan, Province of China
CityTaipei
Period03/9/1403/9/19

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Okawa, K., & Yuta, S. (2003). Motion control for vehicle with unknown operating properties -on-line data acquisition and motion planning. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 3409-3414)