Vehicle Path Specification by a Sequence of Straight Lines

Yutaka Kanayama, Shin'ichi Yuta

Research output: Contribution to journalArticlepeer-review

60 Citations (Scopus)


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

Original languageEnglish
Pages (from-to)265-276
Number of pages12
JournalIEEE Journal on Robotics and Automation
Issue number3
Publication statusPublished - 1988 Jun
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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