Vehicle path specification by a sequence of straight lines

Author

Kanayama, Yutaka ; Yuta, Shin´ichi

Author_Institution

Dept. of Comput. Sci., Stanford Univ., CA, USA

Volume

4

Issue

3

fYear

1988

fDate

6/1/1988 12:00:00 AM

Firstpage

265

Lastpage

276

Abstract

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

Keywords

computerised navigation; position control; robots; MITCHI; Yamabico; computerised navigation; coordinate transformations; design; mobile robots; path-description; vehicle-control command-system; vehicle-trajectory-control; Artificial intelligence; Automatic control; Computer science; Control systems; Mobile robots; Navigation; Path planning; Remotely operated vehicles; Velocity control; Wheels;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Journal of

Publisher

ieee

ISSN

0882-4967

Type

jour

DOI

10.1109/56.787

Filename

787