| Presentation | 2014-01-20 Analyses of the optimal timing to change the running direction in the parking problem : An automated tricycle model with the linearized path tracking control and its target axis rotation Takuro ISHIKAWA, Hiroaki WAGATSUMA, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this study, we investigated methods for steering systems with nonholonomic and environmental constraints based on the path tracking controller by using exact linearization technique and non-linear time scale transformation originally proposed by Sampei and Ito [1] and proposed a target axis rotation to maximize the usefulness to be obtained from the original method in terms of a parking path planning in the narrow space. A problem of our proposed target axis rotation method was instability to determine the center of axis rotations triggered by obstacle detections with walls. In this paper, we calculated an ideal trajectory of the parking by using geometrical analyses from the minimum rotation radius of the vehicle. In computer experiments, our improved method demonstrated a fitting trajectory with the ideal one in the condition of best parameters in the linear quadratic (LQ) optimal control. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Linearized path tracking control / Target axis rotation / Automobile parking / Nonlinear control / Path planning |
| Paper # | NC2013-74 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2014/1/13(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Analyses of the optimal timing to change the running direction in the parking problem : An automated tricycle model with the linearized path tracking control and its target axis rotation |
| Sub Title (in English) | |
| Keyword(1) | Linearized path tracking control |
| Keyword(2) | Target axis rotation |
| Keyword(3) | Automobile parking |
| Keyword(4) | Nonlinear control |
| Keyword(5) | Path planning |
| 1st Author's Name | Takuro ISHIKAWA |
| 1st Author's Affiliation | Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology() |
| 2nd Author's Name | Hiroaki WAGATSUMA |
| 2nd Author's Affiliation | Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology:RIKEN BSI |
| Date | 2014-01-20 |
| Paper # | NC2013-74 |
| Volume (vol) | vol.113 |
| Number (no) | 382 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |