TY - JOUR
T1 - Vehicle Path Specification by a Sequence of Straight Lines
AU - Kanayama, Yutaka
AU - Yuta, Shin'ichi
N1 - Copyright:
Copyright 2015 Elsevier B.V., All rights reserved.
PY - 1988/6
Y1 - 1988/6
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0024029223&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0024029223&partnerID=8YFLogxK
U2 - 10.1109/56.787
DO - 10.1109/56.787
M3 - Article
AN - SCOPUS:0024029223
SN - 0882-4967
VL - 4
SP - 265
EP - 276
JO - IEEE journal of robotics and automation
JF - IEEE journal of robotics and automation
IS - 3
ER -