A vehicle following system of autonomous vehicles on a string linked with a small gap by digital communication between adjacent vehicles is described. The velocity control of the vehicles on a string is formulated by the pole assignment problem to avoid collisions of vehicles. The steering control for the vehicles is based on a target point following algorithm. For the control, the position, direction, velocity and control input are transmitted from a vehicle to its following one through unidirectional communication. Infrared digital communication units of 9600 bps for the system, which search for another vehicle for linkage as well as transmit/receive data in the HDLC frame, are developed, and the communication protocol and linking of vehicles by the communication are examined.
|出版物ステータス||Published - 1988 12 1|
|イベント||Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA|
継続期間: 1988 7 18 → 1988 7 20
|Other||Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics|
|市||Minneapolis, MN, USA|
|期間||88/7/18 → 88/7/20|
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