Generated trajectory of extended lateral guided sensor steering mechanism for steered autonomous vehicles in real world environments

被引：1
|
作者：
Takita Y. [1 ]
机构：
[1] Department of Computer Science, Robotics Lab., National Defense Academy of Japan, 1-10-20 Hashirimizu, Yokosuka, 239-8686, Kanagawa
来源：
Takita, Yoshihiro (takita@nda.ac.jp) | 1600年 / Fuji Technology Press卷 / 29期
基金：
日本学术振兴会;
关键词：
AR Skipper; Lateral guided method SSM; Real World Robotics Challenge; Smart Dump; Steered mobile robot;
D O I：
10.20965/jrm.2017.p0660
中图分类号：
学科分类号：
摘要：
This paper discusses the generated trajectory of an extended lateral guided sensor steering mechanism (SSM) method for a steered autonomous vehicle moving in a real world environment. In a previous study, an extended SSM was applied to the Smart Dump 9 and AR Chair robots for following preset waypoints on a map. These studies showed only the schematic idea of the method; the precise performance of the generated trajectory was not shown. This paper compares the Smart Dump 9 robot with a newly developed AR Skipper robot; these robots participated in the Tsukuba Challenge in 2015 and 2016, respectively. Finally, experimental data from the Tsukuba Challenge 2016 demonstrates the advantages of the extended SSM and developed control system. © 2017, Fuji Technology Press. All rights reserved.
引用
收藏
页码：660 / 667
页数：7
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