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

Kazuya Okawa, Shin'ichi Yuta

研究成果: Conference article査読

3 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)3409-3414
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
3
出版ステータスPublished - 2003 12 9
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
継続期間: 2003 9 142003 9 19

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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