四輪型車両における溝への進入角度を考慮した経路生成形レギュレータ

抄録

In the uneven terrain such as landfill, there are drainage ditches for draining rainwaters. Their width and depth considerably vary considerably with location, therefore it is important to choose appropriate position and approach angle toward the ditch for the car-like robot to traverse the ditch without slip and stuck. In this paper, we define a straight line across the ditch for safe traverse. Then, using the Path-generating regulator functionality, we realize a tracking property to follow the straight line on the way to the origin as a goal position. The formula of the proposed method and simulation results will be shown.