経路生成形レギュレータによる四輪型車両のBezier曲線経路追従

抄録

The Path-generating Regulator (PGR) is a nonlinear regulator to make the non-holonomic car-like robot converge to a given trajectory family. According to the demand of curve path following, the PGR is extended to the tracking problem along the Bezier curve for four-wheeled car-like robot. Bezier curve is a parametric curve frequently used in computer graphics and related fields, especially the cubic Bezier curve. On the occasion of path following, the Bezier curve can provide smoothly varying curvature which is easily realized for tacking by car-like robot. To deal with this problem, an improved PGR method with Frenet －Serret frame will be proposed in this paper. By tracking the reference point on target curve, the car-like robot approaches the prescribed path gradually. The results of numerical simulations are included to show this improved PGR method has applicability and convergence property for Bezier curve passage tracking.