Title :
Simultaneous design of an on-line preview planner and a control system of a 3-wheeled vehicle
Author :
Matsushita, Akihiko
Author_Institution :
Fac. of Eng., Hokkaido Univ., Sapporo, Japan
Abstract :
A simultaneous design method of an on-line 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 on-line planning, the planner can prevent the vehicle from colliding with the obstacles better than without preview planning
Keywords :
collision avoidance; control system synthesis; mobile robots; predictive control; 3-wheeled vehicle; collision avoidance; control system; obstacles; on-line preview planner; optimal preview control; simultaneous design; Control systems; Control theory; Design methodology; History; Manipulators; Mobile robots; Optimal control; Path planning; Trajectory; Vehicles;
Conference_Titel :
Industrial Electronics Society, 1999. IECON '99 Proceedings. The 25th Annual Conference of the IEEE
Conference_Location :
San Jose, CA
Print_ISBN :
0-7803-5735-3
DOI :
10.1109/IECON.1999.816482
