画像情報を用いた単一コントローラによるACVの直線・円弧の走行制御

抄録

A kind of an air cushion vehicle (ACV) is known as a hovercraft which carries out a cruise by blowing off the air from the bottom of the body. The ACV has many advantages, such as amphibian vehicle, large payload, and so on. However, the ACV has drawbacks such as its drivability is bad. An improvement of the drivability is effective for the control of the ACV and the disturbance rejection performance of the controller is very significant.

In this research we makes controller that can run an arbitrary curve whose shape has not been determined in advance. And we verified usefulness of controller by running the simulation. Using various sensor and image processing technology we get control value which required for controller. We verified usefulness of these methods by executing control experiments.