たすきがけ偏差に基づく移動車両群の自動連結のための単純接近アルゴリズム

Abstract

As the first step for the realization of automatic coupling of multiple vehicles, in this paper, we propose a simple approaching algorithm of two vehicles. The special feature of the proposed method is that the proposed method can bring a posteriorly-located crawler unit closer to the anteriorly located only utilizing low resolution sensors. Firstly, we derive an interesting geometrical relationship of two vehicles. This relationship correlate positions and attitude of each vehicles with Cross-deviation. Based on the derived geometrical relationship, we propose an approaching algorithm of two vehicles, Finally, using the linked crawler robot which is called DUCKS and a wireless communication module XBee, we confirm the feasibility of the proposed method.