通過可能地点を考慮した経路生成形レギュレータによる四輪車両の走行制御

―環境調査地における走行実験―

抄録

This paper addresses feasibility study of the navigation method of autonomous vehicle via a driving experiment at the environmental survey site. We have developed an autonomous vehicle based on an ATV for environmental survey aimed at saving labor in field survey. In uneven terrain such as landfill, there are civil engineering structures like ditches, which might be obstacles for the ATV to traverse. If the structures have passable points for the ATV at their intermediate position, the ATV can pass through there without collision, and reach to a goal point. Toward this problem, PGR considering a passable point was proposed and tested by the simulation. In this study, we performed experiment with the ATV in the survey site to confirm the performance of the PGR in practical use. The result shows that the ATV is possible to go through the passable point and to converge to the goal without entering ditches.