Generated Trajectory of Extended Lateral Guided Sensor Steering Mechanism for Steered Autonomous Vehicles in Real World Environments | Zendy

Yoshihiro Takita | Zendy

Open Access

Generated Trajectory of Extended Lateral Guided Sensor Steering Mechanism for Steered Autonomous Vehicles in Real World Environments

Author(s) -

Yoshihiro Takita

Publication year - 2017

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2017.p0660

Subject(s) - trajectory , robot , schematic , mechanism (biology) , computer science , simulation , mobile robot , control theory (sociology) , control engineering , artificial intelligence , control (management) , engineering , physics , electrical engineering , quantum mechanics , astronomy

This paper discusses the generated trajectory of an extended lateral guided sensor steering mechanism (SSM) method for a steered autonomous vehicle moving in a real world environment. In a previous study, an extended SSM was applied to the Smart Dump 9 and AR Chair robots for following preset waypoints on a map. These studies showed only the schematic idea of the method; the precise performance of the generated trajectory was not shown. This paper compares the Smart Dump 9 robot with a newly developed AR Skipper robot; these robots participated in the Tsukuba Challenge in 2015 and 2016, respectively. Finally, experimental data from the Tsukuba Challenge 2016 demonstrates the advantages of the extended SSM and developed control system.

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