Garage parking planning and control of car-like robot using a real time optimization method

Motoji Yamamoto, Yoshiaki Hayashi, Akira Mohri

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

18 被引用数 (Scopus)

抄録

This paper proposes a planning and control method of garage parking for car-like robot. The garage parking problem of car-like robot is known as a difficult task because of non-holonomic kinematics' constraints of the car-like robot system and it's narrow work space. Especially, consideration of error in the control of the system and consideration of dynamic environment such as unexpected obstacles make the problem more complicated one and hard to treat. For the garage parking problem, we apply receding horizon control method as a real-time optimization. By applying the method, desirable control is realized for the car-like robot's garage parking problem even if there are unexpected obstacles in the work space and there are errors such as slip of tires. We verify the effectiveness using an experimental car-like robot system. The proposed control method is also applicable for an automatic control system of car-like robot in general cluttered environment.

本文言語英語
ホスト出版物のタイトル2005 IEEE International Symposium on Assembly and Task Planning, ISATP
ページ248-253
ページ数6
出版ステータス出版済み - 2005
イベント2005 IEEE International Symposium on Assembly and Task Planning, ISATP - Montreal, QC, カナダ
継続期間: 7月 19 20057月 21 2005

出版物シリーズ

名前Proceedings of the IEEE International Symposium on Assembly and Task Planning
2005

その他

その他2005 IEEE International Symposium on Assembly and Task Planning, ISATP
国/地域カナダ
CityMontreal, QC
Period7/19/057/21/05

!!!All Science Journal Classification (ASJC) codes

  • 工学一般

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