Simultaneous design of an on-line preview planner and a control system of a 3-wheeled vehicle

Author

Matsushita, Akihiko ; Tsuchiya, Takeshi

Author_Institution

Dept. of Control & Inf. Eng., Hokkaido Univ., Sapporo, Japan

Volume

1

fYear

1998

fDate

1998

Firstpage

493

Abstract

A simultaneous design method of an online preview planner and a control system of a desired signal is proposed for a 3-wheeled vehicle. The planner is designed as a part of the control system by optimal preview control theory. The utilization of preview information (the restrictions of obstacles ahead of the vehicle) is discussed on the basis of control theory. As compared with separate designs, the relations are clearer between the preview information and characteristics of the control system. By integration of preview planning and online planning, the planner can prevent the vehicle from colliding with the obstacles better than without preview planning

Keywords

control system synthesis; mobile robots; optimal control; path planning; predictive control; vehicles; 3-wheeled vehicle; control system; obstacles; online preview planner; optimal preview control theory; simultaneous design method; Control systems; Control theory; Design methodology; Error correction; Manipulators; Mobile robots; Optimal control; Path planning; Servomechanisms; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.760725

Filename

760725