Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
Cart control requires propulsion and steering simultaneously. It will impose the user a hard workload in the lots of human environment. To overcome this problem, we design a safe auto-steering mobile system. The steering is controlled by an attractor controller that entrains the cart to the reference trajectory based on vector field. The trajectory and vector field are designed under non-holonomic constraints, and the controller is designed by functional approximation with an averaging method of the vector field. A cart system is designed and prototyped. The experimental results show that the propulsion force obtained from the user confirms the safety against collision with pedestrian.
