{"title":"Vehicle path specification by a sequence of straight lines","authors":"Yutaka Kanayama, S. Yuta","doi":"10.1109/56.787","DOIUrl":null,"url":null,"abstract":"A path-description method that uses a sequence of straight lines with coordinate transformations is presented. This concept is hardware-independent and may be applied to any kind of vehicle. A local vehicle-trajectory-control algorithm is used both for determining the transient portions of each vehicle trajectory and for keeping the vehicle moving along a given directed straight line. A vehicle-control command-system, MITCHI, is one realization of the idea and is introduced. The MITCHI command-system has been implemented on self-contained Yamabico mobile robots. Several design features, such as status transition, fast/slow command execution, and velocity control, as well as simulation results, are described. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"24 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"107","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/56.787","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 107
Abstract
A path-description method that uses a sequence of straight lines with coordinate transformations is presented. This concept is hardware-independent and may be applied to any kind of vehicle. A local vehicle-trajectory-control algorithm is used both for determining the transient portions of each vehicle trajectory and for keeping the vehicle moving along a given directed straight line. A vehicle-control command-system, MITCHI, is one realization of the idea and is introduced. The MITCHI command-system has been implemented on self-contained Yamabico mobile robots. Several design features, such as status transition, fast/slow command execution, and velocity control, as well as simulation results, are described. >
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