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AWS Robot Delivery Challenge 2022 に出場できなかった話 : Kanayama Control

Last updated at Posted at 2022-03-20

概要を読んでいない方は先にこちらを読んでください!
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はじめに

今回は上図のkanayama_controlの部分について説明します.
コントローラにはKanayama Controlという手法を用いました.
車両制御にはよく用いられる手法で,以下の論文を参考にしました.
https://ieeexplore.ieee.org/document/126006

Kanayama Controlでは,Plannerから参照位置と参照制御入力を受け取り,自己位置推定を行うノードから自己位置を取得し,制御入力を計算しています.

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