To provide an autonomous traveling vehicle and an autonomous traveling system that are able to improve a calculation speed and improve stability without deteriorating prediction performance.SOLUTION: An autonomous traveling vehicle 10A includes a vehicle body 11, fixed wheels 13, a single steering wheel 14, and a control device 18A that controls a steering angle of the steering wheel by performing non-linear model predictive control. Using a dimensionless motion model in which an input is one-dimensional only in the steering angle, the control device 18A performs the non-linear model predictive control to determine an optimum input and controls the steering angle according to the optimum input.SELECTED DRAWING: Figure 1
【課題】予測の性能を低下させることなく、計算速度の向上や安定性の向上を図ることが可能な自律走行車および自律走行システムを提供する。【解決手段】車両本体11と、固定輪13と、単一の操舵輪14と、非線形モデル予測制御を行い、操舵輪の操舵角を制御する制御装置18Aと、を備える自律走行車10Aであって、制御装置18Aは、入力が操舵角のみの1次元となる無次元化運動モデルを用いて、非線形モデル予測制御を行い最適な入力を決定し、最適な入力に応じて操舵角を制御することを特徴とする。【選択図】図1
AUTONOMOUS TRAVELING VEHICLE AND AUTONOMOUS TRAVELING SYSTEM
自律走行車および自律走行システム
2022-06-23
Patent
Electronic Resource
Japanese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
AUTONOMOUS TRAVELING APPARATUS AND AUTONOMOUS TRAVELING SYSTEM
European Patent Office | 2016
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