@phdthesis{oai:muroran-it.repo.nii.ac.jp:00005137,
 author = {DAI, Jun and 代, 軍},
 month = {2016-02-15, 2016-02-15},
 note = {application/pdf, Nonholonomic mobile robots, which have been developed for several decades, have been applied widely in various fields. One promising application is environmental surveys of vast areas, which require precise location and orientation control. In this research, the two-wheeled and four-wheeled mobile robots are objects of study. The path-generating regulator (PGR) was extended to track the circle/arc passage and converge to the origin with steering angle saturation. The PGR, which is a control method for robots so as to orient its heading toward the tangential direction of one of the curves belonging to the family of path functions, is applied to navigation problem for two-wheeled robot originally. Driving environments for robots are usually roads, streets, passages, and indoor. These tracks can be seen as consist of straight lines and arcs. In the case of small interval, arc can be regarded as straight line approximately, therefore we extended the PGR to drive the robot move along circle/arc passage based on the theory that PGR along straight passage. In addition, the adjustable look-ahead method is proposed to improve the robot trajectory convergence property to the target circle/arc. The effectiveness is proved trough MATLAB simulations on both the comparisons with the PGR and the improved PGR with adjustable look-ahead method. The results of numerical simulations show that the adjustable look-ahead method has better convergence property and stronger capacity of resisting disturbance. Another focus of this work analyzes the influence of steering angle saturation to the convergent property in the PGR under the feedback gain switching strategy for car-like robots. The PGR has been extended to car-like robots. Moreover, its convergent region has been expanded by the feedback gain switching strategy. However, under this strategy, when the robot restarts after the feedback gain switches, the command of the steering angle tends to be close to ±π/2 rad, which might exceed the maximum steering angle. This phenomenon causes steering angle saturation. The robot then drives along the minimum turning circle. In this paper, the convergent property of the robot under steering angle saturation is investigated. Results show that the convergent property is related strongly to the number of singular points, which depends on the center location of the minimum turning circle. The convergent properties at different locations are clarified through region division. An extended feedback gain switching strategy method is proposed to change the convergent property in the specific region. Based on simulation and experiment results, we summarize the convergent property related to the region and verify the proposed method.},
 school = {室蘭工業大学, Muroran Institute of Technology},
 title = {The  Extended Path-generating Regulator for Control of Nonholonomic Mobile Robots},
 year = {}
}