操舵式自律移動ロボット車両の屋外における SSM 軌道誘導特性

抄録

This paper proposes an extended SSM for autonomous vehicle with the front wheel steering mechanism moving in the real world environment. In previous paper the extended SSM was applied to Smart Dump 9 and AR Chair for following the preset way points on the map. These papers are shown only the schematic idea of this method but the precise performance of the generated trajectory is not shown. This paper derives the geometrical relation between steering angle and way points in the three dimensional map. Simulation and Experimental data are compared with each other. Finally, experimental data in the Tsukuba challenge 2016 demonstrates the advantage of extended SSM and the developed control system.