Patent ID: 8751089
Filing Date: 2014-06-10
Classification: B60T,G05D,G06N

Abstract:
1. A trajectory tracking control system that controls a mobile unit to track a target path described by free-form curves, comprising: a mobile unit; a curvature calculating portion that calculates an arc which approximates to the target path, the curvature calculating portion calculating a curvature of the arc in accordance with a moving speed of the mobile unit; and a feed-forward control portion that sets a feed-forward control of the mobile unit in accordance with the curvature calculated by the curvature calculating portion, wherein the curvature calculating portion includes: a closest point setting portion that sets, on the target path, a point that is closest to the mobile unit; an adjacent point setting portion that sets, on the target path, an adjacent point before the closest point set by the closest point setting portion and an adjacent point after the closest point set by the closest point setting portion; and an arc setting portion that sets an arc that extends through the closest point set by the closest point setting portion and the adjacent points set by the adjacent point setting portion.