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JRM Vol.29 No.3 pp. 591-601
doi: 10.20965/jrm.2017.p0591
(2017)

Paper:

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Maneuvering Support System for an Amphibian Vehicle – Warning Display to Prevent Rough Maneuvers –

Ryota Hayashi*1, Genki Matsuyama*2, Hisanori Amano*3, Hitomu Saiki*3, Tetsuya Kinugasa*1, Koji Yoshida*1, Masatsugu Iribe*4, and Kenichi Tokuda*5

*1Department of Mechanical Systems Engineering, Okayama University of Science
1-1 Ridai-cho, Kita-ku, Okayama 700-0005, Japan

*2Ichihara Works, Mitsui Chemicals, Inc.
3 Chigusa-kaigan, Ichihara, Chiba 299-0108, Japan

*3National Research Institute of Fire and Disaster
4-35-3 Jindaiji-Higashi-Machi, Chofu, Tokyo 182-0012, Japan

*4Department of Electro-Mechanical Engineering, Osaka Electro-Communication University
18-8 Hatsu-cho, Neyagawa, Osaka 572-8530, Japan

*5Faculty of Systems Engineering, Wakayama University
930 Sakaedani, Wakayama 640-8510, Japan

Received:
January 20, 2016
Accepted:
March 8, 2017
Published:
June 20, 2017
Creative Commons License
Keywords:
maneuvering support system, amphibian vehicle, trajectory control, warning display, nonlinear control
Abstract
This study proposes a maneuvering support system for an amphibian vehicle by applying a nonlinear state feedback control law for vehicle trajectory control. We consider that the vehicle should not drift sideways for good driving performance. To derive a nonlinear state feedback control law, we have defined ‘Maneuvering Trajectory’ as an additional reference trajectory that is generated by the driver’s maneuver. We have constructed a Lyapunov-like function for the trajectory control system. In this paper, we construct a vehicle-maneuvering simulator and set a clockwise circular reference trajectory. The efficiency of the proposed maneuvering support system is shown in the maneuvering simulations. We consider the case where the propulsive forces of the vehicle have limited influence on maneuverability. A new warning display system is proposed so that the driver can recognize if his or her maneuver is not suitable. Then, we examine the feasibility of the proposed warning display system through several simulations.
Amphibian vehicle maneuvering simulator

Amphibian vehicle maneuvering simulator

Cite this article as:
R. Hayashi, G. Matsuyama, H. Amano, H. Saiki, T. Kinugasa, K. Yoshida, M. Iribe, and K. Tokuda, “Maneuvering Support System for an Amphibian Vehicle – Warning Display to Prevent Rough Maneuvers –,” J. Robot. Mechatron., Vol.29 No.3, pp. 591-601, 2017.
Data files:
References
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Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

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Last updated on Nov. 19, 2024