@article{oai:kanazawa-u.repo.nii.ac.jp:00009527,
 author = {Hatta, Kiyoshi and Hori, Junya and Kinari, Toshiyasu and Shintaku, Sukenori and 八田, 潔 and 堀, 純也 and 喜成, 年泰 and 新宅, 救徳},
 issue = {5},
 journal = {繊維機械学会誌 = Journal of the Textile Machinery Society of Japan},
 month = {Jan},
 note = {Doffing operation for the covering machine has been already automated by the auto drawing-in apparatus loaded on the autonomous vehicle. The vehicle repeats moving and stop while measuring its position and attitude with a pair of laser displacement sensors. In this report, control methods for this autonomous vehicle are investigated to approach the initial operating position rapidly, to break away at the end of the covering machine, and to turn around it. Fuzzy control was applied to the path tracking that the autonomous vehicle approaches the initial operating position of the covering machine. It obtains much rapider response than the method in which the front wheel takes on the reference path. Using this advantage of fuzzy control, it enables the vehicle to turn back over the side of the covering machine with stability. By means of this, the autonomous vehicle can directly use the machine frame as a guide way without any additions extraordinary to the covering machine.},
 pages = {T99--T104},
 title = {カバリングマシンの自動糸交換装置の開発: (第6報) ファジィ手法を用いた自律式作業台車の走行制御},
 volume = {51},
 year = {1998}
}