NDLI: Simultaneous design of an on-line preview planner and a control system of a 3-wheeled vehicle

Content Provider	IEEE Xplore Digital Library
Author	Matsushita, A. Tsuchiya, T.
Copyright Year	1998
Description	Author affiliation: Dept. of Control & Inf. Eng., Hokkaido Univ., Sapporo, Japan (Matsushita, A.)
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.
Starting Page	493
Ending Page	494
File Size	247381
Page Count	2
File Format	PDF
ISBN	0780343948
ISSN	01912216
DOI	10.1109/CDC.1998.760725
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-12-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Vehicles Control theory Path planning Design methodology Optimal control Servomechanisms Mobile robots Manipulators Error correction
Content Type	Text
Resource Type	Article

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Simultaneous design of an on-line preview planner and a control system of a 3-wheeled vehicle