VEHICLE PATH SPECIFICATION BY A SEQUENCE OF STRAIGHT LINES.

Yutaka Kanayama, Shinichi Yuta

Research output: Contribution to journalArticle

56 Citations (Scopus)

Abstract

A path-description method that uses a sequence of straight lines with coordinate transformations is presented. This concept is hardware-independent and may be applied to any kind of vehicle. A local vehicle-trajectory-control algorithm is used both for determining the transient portions of each vehicle trajectory and for keeping the vehicle moving along a given directed straight line. A vehicle-control command-system, MITCHI, is one realization of the idea and is introduced. The MITCHI command-system has been implemented on self-contained Yamabico mobile robots. Several design features, such as status transition, fast/slow command execution, and velocity control, as well as simulation results, are described.

Original languageEnglish
Pages (from-to)265-276
Number of pages12
JournalIEEE journal of robotics and automation
Volume4
Issue number3
DOIs
Publication statusPublished - 1988 Jun
Externally publishedYes

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Specifications
Trajectories
Velocity control
Mobile robots
Hardware

ASJC Scopus subject areas

  • Engineering(all)

Cite this

VEHICLE PATH SPECIFICATION BY A SEQUENCE OF STRAIGHT LINES. / Kanayama, Yutaka; Yuta, Shinichi.

In: IEEE journal of robotics and automation, Vol. 4, No. 3, 06.1988, p. 265-276.

Research output: Contribution to journalArticle

Kanayama, Yutaka ; Yuta, Shinichi. / VEHICLE PATH SPECIFICATION BY A SEQUENCE OF STRAIGHT LINES. In: IEEE journal of robotics and automation. 1988 ; Vol. 4, No. 3. pp. 265-276.
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