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Paper Abstract and Keywords
Presentation 2014-01-20 15:05
Analyses of the optimal timing to change the running direction in the parking problem -- An automated tricycle model with the linearized path tracking control and its target axis rotation --
Takuro Ishikawa, Hiroaki Wagatsuma (Kyushu Inst. of Tech.) NC2013-74
Abstract (in Japanese) (See Japanese page) 
(in English) In this study, we investigated methods for steering systems with nonholonomic and environmental constraints based on the path tracking controller by using exact linearization technique and non-linear time scale transformation originally proposed by Sampei and Ito [1] and proposed a target axis rotation to maximize the usefulness to be obtained from the original method in terms of a parking path planning in the narrow space. A problem of our proposed target axis rotation method was instability to determine the center of axis rotations triggered by obstacle detections with walls. In this paper, we calculated an ideal trajectory of the parking by using geometrical analyses from the minimum rotation radius of the vehicle. In computer experiments, our improved method demonstrated a fitting trajectory with the ideal one in the condition of best parameters in the linear quadratic (LQ) optimal control.
Keyword (in Japanese) (See Japanese page) 
(in English) Linearized path tracking control / Target axis rotation / Automobile parking / Nonlinear control / Path planning / / /  
Reference Info. IEICE Tech. Rep., vol. 113, no. 382, NC2013-74, pp. 43-48, Jan. 2014.
Paper # NC2013-74 
Date of Issue 2014-01-13 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NC2013-74

Conference Information
Committee NC  
Conference Date 2014-01-20 - 2014-01-21 
Place (in Japanese) (See Japanese page) 
Place (in English) Kyusyu Institute of Technology 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2014-01-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Analyses of the optimal timing to change the running direction in the parking problem 
Sub Title (in English) An automated tricycle model with the linearized path tracking control and its target axis rotation 
Keyword(1) Linearized path tracking control  
Keyword(2) Target axis rotation  
Keyword(3) Automobile parking  
Keyword(4) Nonlinear control  
Keyword(5) Path planning  
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1st Author's Name Takuro Ishikawa  
1st Author's Affiliation Kyushu Institute of Technology (Kyushu Inst. of Tech.)
2nd Author's Name Hiroaki Wagatsuma  
2nd Author's Affiliation Kyushu Institute of Technology (Kyushu Inst. of Tech.)
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Speaker Author-1 
Date Time 2014-01-20 15:05:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2013-74 
Volume (vol) vol.113 
Number (no) no.382 
Page pp.43-48 
#Pages 6 
Date of Issue 2014-01-13 (NC) 

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