ES2091235T3 - Procedimiento de reajuste sobre una trayectoria teorica para un vehiculo, modificando la curvatura de la trayectoria real. - Google Patents

Procedimiento de reajuste sobre una trayectoria teorica para un vehiculo, modificando la curvatura de la trayectoria real.

Info

Publication number
ES2091235T3
ES2091235T3 ES90403722T ES90403722T ES2091235T3 ES 2091235 T3 ES2091235 T3 ES 2091235T3 ES 90403722 T ES90403722 T ES 90403722T ES 90403722 T ES90403722 T ES 90403722T ES 2091235 T3 ES2091235 T3 ES 2091235T3
Authority
ES
Spain
Prior art keywords
path
vehicle
curvature
theoretical
modifying
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
ES90403722T
Other languages
English (en)
Inventor
Jean-Marie Detriche
Alain Micaelli
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Application granted granted Critical
Publication of ES2091235T3 publication Critical patent/ES2091235T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)

Abstract

PROCESO DE CALZADO DE UN VEHICULO (1) SOBRE UNA TRAYECTORIA TEORICA (T SUB TH2) QUE CONSISTE, DURANTE UN TRAMO DE REUNION S SUB 1, EN MODIFICAR PROGRESIVAMENTE LA CURVATURA DE LA TRAYECTORIA DEL VEHICULO (1) EN FUNCION DEL RUMBO (THETA) Y DE LA CURVATURA INSTANTANEOS. NO HAY PUES DISCONTINUIDADES DE ORIENTACION A LO LARGO DE LA TRAYECTORIA, LO QUE NO IMPONE CONDICIONES DE FUNCIONAMIENTO IMPOSIBLES A LOS ORGANOS DEL VEHICULO Y PERMITE SIN EMBARGO CONVERGER RAPIDAMENTE SOBRE DICHA TRAYECTORIA TEORICA. APLICACION, ESPECIALMENTE EN LOS VEHICULOS ROBOTIZADOS SIN PILOTO.
ES90403722T 1989-12-22 1990-12-20 Procedimiento de reajuste sobre una trayectoria teorica para un vehiculo, modificando la curvatura de la trayectoria real. Expired - Lifetime ES2091235T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8917105A FR2656435B1 (fr) 1989-12-22 1989-12-22 Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle.

Publications (1)

Publication Number Publication Date
ES2091235T3 true ES2091235T3 (es) 1996-11-01

Family

ID=9388903

Family Applications (1)

Application Number Title Priority Date Filing Date
ES90403722T Expired - Lifetime ES2091235T3 (es) 1989-12-22 1990-12-20 Procedimiento de reajuste sobre una trayectoria teorica para un vehiculo, modificando la curvatura de la trayectoria real.

Country Status (5)

Country Link
US (1) US5233526A (es)
EP (1) EP0434569B1 (es)
DE (1) DE69027917T2 (es)
ES (1) ES2091235T3 (es)
FR (1) FR2656435B1 (es)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5663879A (en) * 1987-11-20 1997-09-02 North American Philips Corporation Method and apparatus for smooth control of a vehicle with automatic recovery for interference
KR940006567B1 (ko) * 1992-01-06 1994-07-22 삼성전자 주식회사 관성을 이용한 네비게이션 시스템이 부착된 이동로보트
US5471385A (en) * 1992-05-21 1995-11-28 Tsubakimoto Chain Co. Routeless guiding method for moving body
US5416738A (en) * 1994-05-27 1995-05-16 Alliance Semiconductor Corporation Single transistor flash EPROM cell and method of operation
US5566288A (en) * 1994-09-02 1996-10-15 Caterpillar Inc. System and method for automatically fitting a B-spline curve to a set of data points
DE19521358C1 (de) * 1995-06-12 1996-09-05 Siemens Ag Verfahren zur Schlupfermittlung einer autonomen mobilen Einheit mit Dreiradkinematik
US5913376A (en) * 1995-10-31 1999-06-22 Honda Giken Kogyo Kabushiki Kaisha Automatic steering control apparatus
US5988306A (en) * 1997-08-29 1999-11-23 Yazaki Industrial Chemical Co., Ltd. Automatically guided vehicle
US6134486A (en) * 1998-04-20 2000-10-17 The United States Of America As Represented By The Secretary Of The Navy Robot and method of control for an autonomous vehicle to track a path consisting of directed straight lines and circles with positional feedback and continuous curvature
DE19822508A1 (de) 1998-05-19 1999-12-02 Daimler Chrysler Ag Verfahren zur Generierung von Ankopplungsbahnen, verwendbar zur Führung eines Fahrzeugs zu einer vorgegebenen Zielbahn
US6314341B1 (en) * 1999-11-26 2001-11-06 Yutaka John Kanayama Method of recording trajectory data and sensor data for a manually-driven vehicle
US6377889B1 (en) * 2000-10-13 2002-04-23 Trimble Navigation Limited Non-linear method of guiding to arbitrary curves with adaptive feedback
JP4230312B2 (ja) * 2003-08-21 2009-02-25 富士重工業株式会社 車両の進行路推定装置、及び、その進行路推定装置を備えた走行制御装置
US7266438B2 (en) * 2005-08-26 2007-09-04 Gm Global Technology Operations, Inc. Method of assisting driver to negotiate a roadway
US8510041B1 (en) * 2011-05-02 2013-08-13 Google Inc. Automatic correction of trajectory data
DE102013001229A1 (de) * 2013-01-25 2014-07-31 Wabco Gmbh Verfahren zum Ermitteln eines Auslöekriteriums für eine Bremsung und ein Notbremssystem zur Durchführung des Verfahrens
DE102013001228B4 (de) * 2013-01-25 2025-05-15 Zf Cv Systems Europe Bv Verfahren zum Ermitteln eines Auslösekriteriums für eine Bremsung und Notbremssystem für ein Fahrzeug
CN109416544B (zh) * 2016-06-29 2022-08-16 日本电产株式会社 移动体引导系统、移动体、引导装置以及存储器
JP6643370B2 (ja) 2018-01-23 2020-02-12 本田技研工業株式会社 走行基準ライン決定装置及び自動運転装置
US11392127B2 (en) * 2018-10-15 2022-07-19 Zoox, Inc. Trajectory initialization
CN114563982B (zh) * 2022-01-24 2023-05-09 中铁九桥工程有限公司 一种移动设备在圆管上运动轨迹的控制方法
CN115793670B (zh) * 2022-12-26 2026-04-28 元工电力技术有限公司 一种基于nsga-ⅱ的变电站巡检机器人自适应轨迹跟踪控制参数多目标优化方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3757887A (en) * 1971-07-09 1973-09-11 Versadyne Inc Vehicle guidance system
SE423839B (sv) * 1980-10-02 1982-06-07 Volvo Ab Sett och anordning for styrning av ett styrbart hjulfordon
US4817000A (en) * 1986-03-10 1989-03-28 Si Handling Systems, Inc. Automatic guided vehicle system
DE3787003T2 (de) * 1986-05-21 1994-03-24 Komatsu Mfg Co Ltd Lenkvorrichtung für sich unbemannt bewegende körper.
JP2665738B2 (ja) * 1986-07-11 1997-10-22 株式会社小松製作所 地点追従方式による無人移動機械の誘導方法
JP2572968B2 (ja) * 1986-07-14 1997-01-16 株式会社椿本チエイン 自律走行車の誘導方法

Also Published As

Publication number Publication date
FR2656435B1 (fr) 1996-07-05
FR2656435A1 (fr) 1991-06-28
DE69027917D1 (de) 1996-08-29
EP0434569A1 (fr) 1991-06-26
US5233526A (en) 1993-08-03
DE69027917T2 (de) 1997-02-06
EP0434569B1 (fr) 1996-07-24

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