Vehicle Path Specification by a Sequence of Straight Lines

Yutaka Kanayama; Shin'ichi Yuta

doi:10.1109/56.787

Vehicle Path Specification by a Sequence of Straight Lines

Yutaka Kanayama, Shin'ichi Yuta

Department of Electrical Engineering

Research output: Contribution to journal › Article › peer-review

60 Citations (Scopus)

Abstract

This paper presents a path description method which uses a sequence of straight lines with coordinate transformations. This concept is hardware-independent and may be applied to any kind of vehicles. 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 also introduced here. The MITCHI command system has been implemented on self-contained Yamabico mobile robots. Several design features, such as status transition, fast/slow command execution, velocity control and simulation are also described.

Original language	English
Pages (from-to)	265-276
Number of pages	12
Journal	IEEE Journal on Robotics and Automation
Volume	4
Issue number	3
DOIs	https://doi.org/10.1109/56.787
Publication status	Published - 1988 Jun

ASJC Scopus subject areas

Control and Systems Engineering
Engineering(all)
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/56.787

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Vehicle Path Specification by a Sequence of Straight Lines

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