Vehicle Path Specification by a Sequence of Straight Lines

Yutaka Kanayama, Shin'ichi Yuta

研究成果: Article査読

57 被引用数 (Scopus)


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.

ジャーナルIEEE Journal on Robotics and Automation
出版ステータスPublished - 1988 6

ASJC Scopus subject areas

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

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