Title :
Simultaneous design of an on-line preview planner and a control system of a 3-wheeled vehicle
Author :
Matsushita, Akihiko ; Tsuchiya, Takeshi
Author_Institution :
Dept. of Control & Inf. Eng., Hokkaido Univ., Sapporo, Japan
Abstract :
A simultaneous design method of an online preview planner and a control system of a desired signal is proposed for a 3-wheeled vehicle. The planner is designed as a part of the control system by optimal preview control theory. The utilization of preview information (the restrictions of obstacles ahead of the vehicle) is discussed on the basis of control theory. As compared with separate designs, the relations are clearer between the preview information and characteristics of the control system. By integration of preview planning and online planning, the planner can prevent the vehicle from colliding with the obstacles better than without preview planning
Keywords :
control system synthesis; mobile robots; optimal control; path planning; predictive control; vehicles; 3-wheeled vehicle; control system; obstacles; online preview planner; optimal preview control theory; simultaneous design method; Control systems; Control theory; Design methodology; Error correction; Manipulators; Mobile robots; Optimal control; Path planning; Servomechanisms; Vehicles;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.760725
