A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
AUTONOMOUS TRAVEL CONTROL METHOD OF CRAWLER VEHICLE, CONTROLLER OF CRAWLER VEHICLE, AND CRAWLER VEHICLE
To provide an autonomous travel control method of a crawler vehicle capable of correctly calculating a predicted slipping amount when a crawler vehicle travels on a sloped face and enabling an autonomous travel control based on a predicted slipping amount.SOLUTION: An autonomous travel control method of a crawler vehicle includes: a step of setting a target track of the crawler vehicle; and a step of calculating a predicted slipping amount of the crawler vehicle at a time when the crawler vehicle travels on a sloped face based on the target track, by using a gravity center position of the crawler vehicle, an angle of the sloped face, and a travel direction of the crawler vehicle on the sloped face.SELECTED DRAWING: Figure 3
【課題】履帯車両が斜面を走行した場合の履帯車両の予測滑落量を正確に計算することができ、予測滑落量に基づく自律走行制御が可能となる履帯車両の自律走行制御方法を提供する。【解決手段】履帯車両の自律走行制御方法は、履帯車両の目標軌道を設定するステップと、目標軌道に基づいて履帯車両が斜面を走行した場合の履帯車両の予測滑落量を、履帯車両の重心位置、斜面の角度および斜面における履帯車両の走行方向を用いて計算するステップとを含む。【選択図】図３
AUTONOMOUS TRAVEL CONTROL METHOD OF CRAWLER VEHICLE, CONTROLLER OF CRAWLER VEHICLE, AND CRAWLER VEHICLE
To provide an autonomous travel control method of a crawler vehicle capable of correctly calculating a predicted slipping amount when a crawler vehicle travels on a sloped face and enabling an autonomous travel control based on a predicted slipping amount.SOLUTION: An autonomous travel control method of a crawler vehicle includes: a step of setting a target track of the crawler vehicle; and a step of calculating a predicted slipping amount of the crawler vehicle at a time when the crawler vehicle travels on a sloped face based on the target track, by using a gravity center position of the crawler vehicle, an angle of the sloped face, and a travel direction of the crawler vehicle on the sloped face.SELECTED DRAWING: Figure 3
【課題】履帯車両が斜面を走行した場合の履帯車両の予測滑落量を正確に計算することができ、予測滑落量に基づく自律走行制御が可能となる履帯車両の自律走行制御方法を提供する。【解決手段】履帯車両の自律走行制御方法は、履帯車両の目標軌道を設定するステップと、目標軌道に基づいて履帯車両が斜面を走行した場合の履帯車両の予測滑落量を、履帯車両の重心位置、斜面の角度および斜面における履帯車両の走行方向を用いて計算するステップとを含む。【選択図】図３
AUTONOMOUS TRAVEL CONTROL METHOD OF CRAWLER VEHICLE, CONTROLLER OF CRAWLER VEHICLE, AND CRAWLER VEHICLE
履帯車両の自律走行制御方法、履帯車両のコントローラおよび履帯車両
ANDO HIROAKI (author) / SADAMOTO TAKAHIRO (author)
2022-01-18
Patent
Electronic Resource
Japanese
| European Patent Office | 2022
| European Patent Office | 2023