著者

吉田 順 杉町 敏之 深尾 隆則

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集C編 (ISSN:18848354)

巻号頁・発行日

vol.77, no.783, pp.4125-4135, 2011 (Released:2011-11-25)

参考文献数

15

被引用文献数

9 10

---

Energy consumption and CO2 emission are world-wide problems. In Japan, a new project for reducing CO2, called “Energy ITS project” has started since 2008 by NEDO (New Energy and Industrial Technology Development Organization). In this paper, a path following control method based on nonholonomic tracking control for autonomous drivinng of automotives is proposed to follow the determined path as accurately as possible. Path following control can treat the nonlinearities of the system, and it can follow the reference path more accurately. Different from tracking control, path following control separates velocity control and steering control. The performance of the designed control system which consists of a path following controller and a velocity controller is evaluated by simulation and experimental results.