Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
Line Following Control of Two Wheeled Vehicle Based on Symbolic Input and Output Controller
Eiji KONAKATatsuya SUZUKIShigeru OKUMA
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2002 Volume 15 Issue 5 Pages 253-261

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Abstract

Hybrid Dynamical Systems (HDS), which contain both discrete symbol and continuous signal, are attracting great attention in the field of system control. In this paper, a new symbol based control strategy for a line following control of a two wheeled vehicle is proposed. The vehicle is supposed to have a low-resolution sensor and actuator. The control requirement, however, is specified so as to keep the vehicle as close as possible to the center of the line. The controllability and observability issues are investigated, and a concrete control policy based on the continuous state estimation is proposed. Some experimental results are shown to demonstrate the usefulness of our idea.

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