1P2-H05 Proposal of Maneuvering Support System for a Amphibian Rescue Vehicle(Search and Rescue Robot and Mechatronics (2))

Abstract

In this report, an amphibian vehicle for rescue is introduced, and a manueuvering support system for the vehicle is proposed by applying a nonlinear state feedback control law for the trajectory control of the vehicle. To simplify the problem, we consider only viscous friction among the external forces and ignore other external forces applying to the vehicle. We consider that the vehicle should not drift sideways for a good driving performance. To derive a nonlinear state feedback control law, we define 'Maneuvering Trajectory' as a trajectory which is generated by the driver's maneuver and construct a Lyapunov-like function for the trajectory control system. Then feasibility of the proposed system is verified through several numerical simulations.