複数車両型移動ロボットから構成される隊列の経路追従フィードバック制御法(機械力学,計測,自動制御)

This paper presents a path following feedback control method for platoons of multiple car-like mobile robots. We first define a system whose four variables are the relative position and relative orientation of the robot to the path followed and the steering angle, and we secondly convert the system into a chained form system. One of the four variables of the chained form is the moving distance of the robot along the path. By making the robot move, the feedback control method makes the other three variables converge into zero, which is equivalent to making the robot follow the path. The robot especially can follow a smooth path. Connecting multiple paths and adjusting the moving velocities of the robots on the paths enable them to make a platoon. The validity of this feedback control method is supported by computer simulations.