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JRM Vol.29 No.4 pp. 660-667
doi: 10.20965/jrm.2017.p0660
(2017)

Paper:

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

Yoshihiro Takita

Department of Computer Science, National Defense Academy of Japan
1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan

Received:
March 21, 2017
Accepted:
May 3, 2017
Published:
August 20, 2017
Keywords:
Real World Robotics Challenge, lateral guided method SSM, steered mobile robot, Smart Dump, AR Skipper
Abstract
Generated Trajectory of Extended Lateral Guided Sensor Steering Mechanism for Steered Autonomous Vehicles in Real World Environments

AR Skipper turned at Tsukuba Challenge 2016 turning point

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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Last updated on Nov. 10, 2017