{"id":8715,"date":"2023-03-29T12:00:36","date_gmt":"2023-03-29T03:00:36","guid":{"rendered":"https:\/\/blogs.mathworks.com\/japan-community\/?p=8715"},"modified":"2023-03-28T16:48:11","modified_gmt":"2023-03-28T07:48:11","slug":"trajectory_tracking_controllers","status":"publish","type":"post","link":"https:\/\/blogs.mathworks.com\/japan-community\/2023\/03\/29\/trajectory_tracking_controllers\/","title":{"rendered":"\u81ea\u52d5\u8d70\u884c\u8ecc\u9053\u8a08\u753b\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3"},"content":{"rendered":"<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\n<div><\/div>\n<div>\u304a\u4e45\u3057\u3076\u308a\u3067\u3059\u3002\u5b66\u751f\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u62c5\u5f53\u3057\u3066\u3044\u308b\u98ef\u5cf6\u3067\u3059\u3002<\/div>\n<div>\u672c\u65e5\u306e\u30d6\u30ed\u30b0\u306e\u8a18\u4e8b\u306f\u3001MathWorks\u306e\u6d77\u5916\u7248\u306e\u30d6\u30ed\u30b0\u306b\u3082\u63b2\u8f09\u3055\u308c\u3001\u4eba\u6c17\u3060\u3063\u305f\u201d\u81ea\u52d5\u8d70\u884c\u8ecc\u9053\u8a08\u753b\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u201d\u306b\u95a2\u3059\u308b\u8a18\u4e8b\u3092\u548c\u8a33\u3055\u305b\u3066\u3044\u305f\u3060\u304d\u307e\u3057\u305f\u3002\u3053\u3061\u3089\u306e\u8a18\u4e8b\u306f\u81ea\u52d5\u8eca\u696d\u754c\u3067\u8eca\u4e21\u8a2d\u8a08\u3092\u884c\u3063\u3066\u3044\u308b\u65b9\u3005\u306b\u30d2\u30c3\u30c8\u3059\u308b\u5185\u5bb9\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u306e\u3067\u305c\u3072\u6700\u5f8c\u307e\u3067\u304a\u697d\u3057\u307f\u304f\u3060\u3055\u3044\u3002\uff08<a href=\"https:\/\/blogs.mathworks.com\/student-lounge\/2022\/05\/23\/simulating-trajectory-tracking-controllers-for-driverless-cars\/?from=jp\">\u30aa\u30ea\u30b8\u30ca\u30eb\u8a18\u4e8b<\/a>\uff09<\/div>\n<div><\/div>\n<div>\u4ee5\u4e0b\u548c\u8a33 (*\u4e00\u90e8\u65e5\u672c\u4eba\u5411\u3051\u306b\u52d5\u753b\u30b7\u30ea\u30fc\u30ba\u306e\u5dee\u3057\u66ff\u3048\u3092\u3057\u3066\u3044\u307e\u3059\u3002)<\/div>\n<\/div>\n<div>\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc\u30fc<\/div>\n<div class=\"rtcContent\">\n<div><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u3053\u306e\u30d6\u30ed\u30b0\u3067\u306f\u3001\u8ecc\u9053\u8ffd\u8de1\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3092 MATLAB \u304a\u3088\u3073 Simulink \u306b\u5b9f\u88c5\u3057\u3066\u3001\u4e8b\u524d\u5b9a\u7fa9\u3055\u308c\u305f\u8ecc\u9053\u306b\u8eca\u4e21\u3092\u8ffd\u5f93\u3055\u305b\u308b\u65b9\u6cd5\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3059\u3002 \u59cb\u3081\u308b\u524d\u306b\u3001\u3053\u306e\u30d6\u30ed\u30b0\u306e\u30b3\u30f3\u30c6\u30f3\u30c4\u3092\u4f5c\u6210\u3059\u308b\u305f\u3081\u306b\u5c3d\u529b\u3057\u3066\u304f\u308c\u305f\u7d20\u6674\u3089\u3057\u3044\u540c\u50da\u306e <a href=\"https:\/\/www.linkedin.com\/in\/barnesdavidj\/\" class=\"external\" rel=\"nofollow\" target=\"_blank\">David Barnes<\/a>\u3068 <a href=\"https:\/\/www.linkedin.com\/in\/munish-02\/\" class=\"external\" rel=\"nofollow\" target=\"_blank\">Munish Raj<\/a>\u3068<a href=\"https:\/\/www.linkedin.com\/in\/roshan-hingnekar-77201412a\/\" class=\"external\" rel=\"nofollow\" target=\"_blank\">Roshan Hingnekar<\/a> \u306b\u611f\u8b1d\u3057\u307e\u3059\u3002.<\/div>\n<h2 style=\"margin: 20px 10px 5px 4px;padding: 0px;line-height: 20px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 20px;font-weight: bold;text-align: left\">\u30e2\u30c1\u30d9\u30fc\u30b7\u30e7\u30f3<\/h2>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">MathWorks \u306e\u5b66\u751f\u30d7\u30ed\u30b0\u30e9\u30e0\u30c1\u30fc\u30e0\u306e\u4e00\u54e1\u3068\u3057\u3066\u3001\u5b9a\u671f\u7684\u306b\u5b66\u751f\u3068\u4ea4\u6d41\u3057\u3066\u3044\u307e\u3059\u3002 \u3053\u308c\u3089\u306e\u3084\u308a\u53d6\u308a\u306e\u4e2d\u3067\u3001\u5b66\u751f\u304c\u3001\u4ed6\u306e<a href=\"https:\/\/www.mathworks.com\/academia\/student-competitions\/tutorials-videos.html\">Racing Lounge videos<\/a>\u3068\u540c\u69d8\u306b\u3001\u30d1\u30b9\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u304c\u3067\u304d\u308b\u81ea\u8ee2\u8eca\u30e2\u30c7\u30eb\u306b\u95a2\u3059\u308b\u30b3\u30f3\u30c6\u30f3\u30c4\u3092\u4f5c\u6210\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u3068\u63d0\u6848\u3092\u3057\u3066\u304f\u308c\u307e\u3057\u305f\u3002\u307e\u305f\u3001\u305d\u308c\u306b\u3088\u3063\u3066\u3001Simulink \u306e\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0 \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3 \u30e2\u30c7\u30eb\u304c\u3055\u3089\u306b\u6d3b\u7528\u3067\u304d\u308b\u3068\u3082\u8ff0\u3079\u3066\u304f\u308c\u307e\u3057\u305f\u3002<br \/>\n\u305d\u3053\u3067\u5b66\u751f\u3068 2 \u3064\u306e\u5f37\u529b\u306a\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u3001<a href=\"https:\/\/www.mathworks.com\/products\/vehicle-dynamics.html\">Vehicle dynamics blockset<\/a>\u3001\u304a\u3088\u3073 <a href=\"https:\/\/www.mathworks.com\/products\/automated-driving.html\">Automated Driving Toolbox<\/a> \u306b\u89e6\u767a\u3055\u308c\u3066\u3001\u7c21\u5358\u306b\u5b9f\u88c5\u3067\u304d\u308b\u30ef\u30fc\u30af\u30d5\u30ed\u30fc\u3092\u793a\u3059\u4e00\u9023\u306e\u30d3\u30c7\u30aa\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\u306b\u3057\u307e\u3057\u305f\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u305d\u308c\u304c\u3001\u5b66\u751f\u305f\u3061\u304b\u3089\u306e\u30e2\u30c1\u30d9\u30fc\u30b7\u30e7\u30f3\u3067\u3057\u305f\u3002\u3067\u306f\u3001\u6280\u8853\u7684\u306a\u30e2\u30c1\u30d9\u30fc\u30b7\u30e7\u30f3\u3092\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\uff01<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\n<p>\u8ecc\u9053\u8ffd\u5f93\u306f\u81ea\u5f8b\u8d70\u884c\u306b\u6b20\u304b\u305b\u306a\u3044\u8981\u7d20\u306e\u3072\u3068\u3064\u3067\u3001\u8eca\u4e21\u306e\u6a2a\u65b9\u5411\u3068\u7e26\u65b9\u5411\u306e\u52d5\u304d\u3092\u5236\u5fa1\u3057\u3066\u3001\u3042\u3089\u304b\u3058\u3081\u8a2d\u5b9a\u3055\u308c\u305f\u8ecc\u9053\u3092\u305f\u3069\u308b\u3053\u3068\u304c\u76ee\u6a19\u306b\u306a\u308a\u307e\u3059\u3002\u4f8b\u3048\u3070\u3001\u30d5\u30a9\u30fc\u30df\u30e5\u30e9\u30fb\u30b9\u30c1\u30e5\u30fc\u30c7\u30f3\u30c8\u30fb\u30c9\u30e9\u30a4\u30d0\u30fc\u30ec\u30b9\u7af6\u6280\u3067\u306f\u3001\u8eca\u4e21\u306f\u6700\u521d\u306e1\u5468\u3067\u9032\u8def\u306e\u8a08\u753b\u3068\u8ffd\u8de1\u3092\u540c\u6642\u306b\u884c\u3046\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<div>\u3055\u3089\u306b\u3001\u305d\u306e\u5f8c\u306e\u5468\u56de\u3067\u306f\u3001\u8eca\u4e21\u306f\u6700\u9069\u5316\u3055\u308c\u305f\u8ecc\u9053\u3092\u3088\u308a\u9ad8\u901f\u3067\u8ffd\u8de1\u3057\u307e\u3059\u3002\u305d\u306e\u305f\u3081\u3001\u8ecc\u9053\u304b\u3089\u306e\u5927\u304d\u306a\u9038\u8131\u3092\u907f\u3051\u308b\u305f\u3081\u306b\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u8ffd\u5f93\u7cbe\u5ea6\u3092\u9ad8\u304f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/div>\n<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\n<p>\u73fe\u5728\u3001<\/p>\n<div>\u8ecc\u9053\u8ffd\u5f93\u554f\u984c\u306b\u5bfe\u51e6\u3059\u308b\u305f\u3081\u306e\u8907\u6570\u306e\u5236\u5fa1\u6226\u7565\u304c\u5b58\u5728\u3057\u307e\u3059\u304c\u3001\u3053\u306e\u30d6\u30ed\u30b0\u3067\u306f\u3001\u4ee5\u4e0b\u306e3\u3064\u306e\u8ecc\u9053\u8ffd\u5f93\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306b\u7126\u70b9\u3092\u5f53\u3066\u307e\u3059\uff1a<\/div>\n<\/div>\n<ul style=\"margin: 10px 0px 20px;padding-left: 0px;font-family: Helvetica, Arial, sans-serif;font-size: 14px\">\n<li style=\"margin-left: 56px;line-height: 21px;min-height: 0px;text-align: left\">\u7d14\u7c8b\u8ffd\u8de1\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc<\/li>\n<li style=\"margin-left: 56px;line-height: 21px;min-height: 0px;text-align: left\">\u30b9\u30bf\u30f3\u30ec\u30fc\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc<\/li>\n<li style=\"margin-left: 56px;line-height: 21px;min-height: 0px;text-align: left\">\u30e2\u30c7\u30eb\u4e88\u6e2c\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\uff08MPC\uff09<\/li>\n<\/ul>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u3053\u308c\u304b\u3089\u306e\u30bb\u30af\u30b7\u30e7\u30f3\u3092\u8981\u7d04\u3059\u308b\u3068\u3001\u307e\u305a\u53c2\u7167\u8ecc\u9053\u3092\u751f\u6210\u3057\u307e\u3059\u3002\u6b21\u306b\u3001\u8eca\u4e21\u30e2\u30c7\u30eb\u3092\u69cb\u7bc9\u3057\u307e\u3059\u3002\u6700\u5f8c\u306b\u3001\u8eca\u4e21\u306e\u7e26\u65b9\u5411\u3068\u6a2a\u65b9\u5411\u306e\u52d5\u304d\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306b\u3001\u4e0a\u8a18\u306e3\u3064\u306e\u5236\u5fa1\u6226\u7565\u3092\u3044\u304b\u306b\u7c21\u5358\u306b\u5b9f\u88c5\u3067\u304d\u308b\u304b\u3092\u7d39\u4ecb\u3057\u307e\u3059\u3002<\/div>\n<h2 style=\"margin: 20px 10px 5px 4px;padding: 0px;line-height: 20px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 20px;font-weight: bold;text-align: left\">\u53c2\u7167\u8ecc\u8de1<\/h2>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u8eca\u4e21\u306e\u59ff\u52e2\u30c7\u30fc\u30bf\u304c\u65e2\u306b\u8a18\u9332\u3055\u308c\u3066\u3044\u308b\u5834\u5408\u306f\u3001\u3053\u306e\u624b\u9806\u3092\u7701\u7565\u3067\u304d\u307e\u3059\u3002 \u305f\u3060\u3057\u3001\u53c2\u7167\u8ecc\u8de1\u3092\u751f\u6210\u3059\u308b\u5834\u5408\u306f\u3001<a href=\"https:\/\/www.mathworks.com\/help\/driving\/ref\/drivingscenariodesigner-app.html\">Driving Scenario Designer<\/a>\u30a2\u30d7\u30ea\u3092\u4f7f\u7528\u3067\u304d\u307e\u3059\u3002 \u3053\u306e\u30a2\u30d7\u30ea\u3092\u4f7f\u7528\u3059\u308b\u3068\u3001\u81ea\u52d5\u904b\u8ee2\u30b7\u30b9\u30c6\u30e0\u3092\u30c6\u30b9\u30c8\u3059\u308b\u305f\u3081\u306e\u5408\u6210\u904b\u8ee2\u30b7\u30ca\u30ea\u30aa\u3092\u8a2d\u8a08\u3067\u304d\u307e\u3059\u3002 \u3053\u306e\u5834\u5408\u3001\u4e8b\u524d\u306b\u4f5c\u6210\u3055\u308c\u305f\u30b7\u30ca\u30ea\u30aa\u306b\u5b58\u5728\u3059\u308b\u7c73\u56fd\u306e\u9ad8\u901f\u9053\u8def\u30b7\u30fc\u30f3\u306e\u30bb\u30af\u30b7\u30e7\u30f3\u3092\u5229\u7528\u3057\u307e\u3057\u305f\u3002 \u6b21\u306b\u3001\u8eca\u4e21\u3068\u305d\u306e\u8ecc\u8de1\u3092\u6307\u5b9a\u3057\u3001\u8ecc\u8de1\u30c7\u30fc\u30bf\u3092 MAT file\u306b\u51fa\u529b\u3057\u307e\u3057\u305f\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><img decoding=\"async\" loading=\"lazy\" class=\"imageNode\" style=\"vertical-align: baseline;width: 593px;height: 402px\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_1.png\" alt=\"\" width=\"593\" height=\"402\" \/><\/div>\n<h2 style=\"margin: 20px 10px 5px 4px;padding: 0px;line-height: 20px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 20px;font-weight: bold;text-align: left\"><\/h2>\n<h2 style=\"margin: 20px 10px 5px 4px;padding: 0px;line-height: 20px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 20px;font-weight: bold;text-align: left\">\u8eca\u4e21\u30e2\u30c7\u30eb<\/h2>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u8ecc\u9053\u8ffd\u8de1\u554f\u984c\u306e\u7cbe\u5ea6\u306f\u3001\u30d3\u30fc\u30af\u30eb \u30c0\u30a4\u30ca\u30df\u30af\u30b9 \u30e2\u30c7\u30eb\u306b\u4f9d\u5b58\u3057\u307e\u3059\u3002 \u30d3\u30fc\u30af\u30eb \u30c0\u30a4\u30ca\u30df\u30af\u30b9 \u30e2\u30c7\u30eb\u306e\u5fe0\u5b9f\u5ea6\u306b\u57fa\u3065\u3044\u3066\u3001\u3055\u307e\u3056\u307e\u306a\u904b\u8ee2\u6761\u4ef6\u306b\u6700\u9069\u306a\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3092\u6c7a\u5b9a\u3067\u304d\u307e\u3059\u3002 <a href=\"https:\/\/www.mathworks.com\/products\/vehicle-dynamics.html\">Vehicle dynamics blockset<\/a> \u306f\u3001\u8eca\u4e21\u30e2\u30c7\u30eb\u3092\u63d0\u4f9b\u3059\u308b\u3060\u3051\u3067\u306a\u304f\u8eca\u4e21\u306e\u52d5\u304d\u3092\u8a08\u7b97\u3059\u308b\u305f\u3081\u306e\u3055\u307e\u3056\u307e\u306a\u8eca\u4f53\u30d6\u30ed\u30c3\u30af\u3092\u63d0\u4f9b\u3057\u307e\u3059\u3002 \u3053\u306e\u30e2\u30c7\u30eb\u3067\u306f\u3001<a href=\"https:\/\/www.mathworks.com\/help\/vdynblks\/ref\/vehiclebody3dof.html\">vehicle body 3DOF dual track<\/a> \u30d6\u30ed\u30c3\u30af\u3092\u4f7f\u7528\u3057\u307e\u3057\u305f\u3002\u3053\u3053\u3067\u3001\u30bf\u30a4\u30e4\u306e\u529b\u306f\u3001<a href=\"https:\/\/www.mathworks.com\/help\/\/vdynblks\/ref\/combinedslipwheel2dof.html\">combined slip wheel 2DOF<\/a> \u30d6\u30ed\u30c3\u30af\u304b\u3089\u5f97\u3089\u308c\u307e\u3059\u3002 \u3055\u3089\u306b\u3001\u30d9\u30af\u30c8\u30eb\u5316\u3055\u308c\u305f\u30bf\u30a4\u30e4 \u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u306f\u3001\u5358\u7d14\u5316\u3055\u308c\u305f\u30d1\u30ef\u30fc\u30c8\u30ec\u30a4\u30f3 \u30b5\u30d6\u30b7\u30b9\u30c6\u30e0\u304b\u3089\u306e\u5165\u529b\u3092\u53d7\u3051\u5165\u308c\u307e\u3059\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><img decoding=\"async\" loading=\"lazy\" class=\"imageNode\" style=\"vertical-align: baseline;width: 543px;height: 605px\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_2.png\" alt=\"\" width=\"543\" height=\"605\" \/><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u4ee5\u964d\u306e\u30bb\u30af\u30b7\u30e7\u30f3\u3067\u306f\u3001\u3059\u3079\u3066\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc \u30e2\u30c7\u30eb\u306b\u540c\u3058\u30d3\u30fc\u30af\u30eb \u30c0\u30a4\u30ca\u30df\u30af\u30b9 \u30e2\u30c7\u30eb\u3092\u4f7f\u7528\u3057\u307e\u3057\u305f\u3002\u3053\u308c\u3089\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306f\u3001\u5fc5\u8981\u306a\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6\u3001\u52a0\u901f\u3001\u6e1b\u901f\u30b3\u30de\u30f3\u30c9\u3092\u751f\u6210\u3059\u308b\u3053\u3068\u3092\u76ee\u7684\u3068\u3057\u3066\u3044\u307e\u3059\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u57fa\u672c\u7684\u306a\u7e26\u65b9\u5411\u304a\u3088\u3073\u6a2a\u65b9\u5411\u306e\u30d3\u30fc\u30af\u30eb \u30c0\u30a4\u30ca\u30df\u30af\u30b9 \u30e2\u30c7\u30eb\u304b\u3089\u59cb\u3081\u308b\u306b\u306f\u3001\u6b21\u306e\u30d3\u30c7\u30aa \u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\"><a href=\"https:\/\/youtu.be\/WID-MBOIIt8\" class=\"external\" rel=\"nofollow\" target=\"_blank\">https:\/\/youtu.be\/WID-MBOIIt8<\/a><\/div>\n<h2 style=\"margin: 20px 10px 5px 4px;padding: 0px;line-height: 20px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 20px;font-weight: bold;text-align: left\">\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc<\/h2>\n<h3 style=\"margin: 15px 10px 5px 4px;padding: 0px;line-height: 18px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 17px;font-weight: bold;text-align: left\">\u5358\u7d14\u8ffd\u8de1<span style=\"font-weight: bold\">\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc(<\/span>Pure Pursuit Controller)<\/h3>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u5236\u5fa1\u30b9\u30c8\u30e9\u30c6\u30b8\u30fc\u3092\u5b9f\u88c5\u3059\u308b\u6700\u521d\u306e\u9078\u629e\u80a2\u3068\u3057\u3066\u3001\u79c1\u305f\u3061\u306f\u5358\u7d14\u8ffd\u8de1\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3092\u9032\u3081\u307e\u3057\u305f\u3002\u7c21\u5358\u306b\u8a00\u3046\u3068\u3001\u3042\u308b\u5730\u70b9\u304b\u3089\u5225\u306e\u5730\u70b9\u306b\u8eca\u4e21\u3092\u79fb\u52d5\u3055\u305b\u308b\u305f\u3081\u306b\u8ecc\u9053\u306e\u66f2\u7387\u3092\u8a08\u7b97\u3059\u308b\u8ecc\u9053\u8ffd\u8de1\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\u3002\u5b9a\u5f0f\u5316\u306e\u901a\u308a\u3001\u57fa\u6e96\u8ecc\u9053\u3092\u305f\u3069\u308b\u305f\u3081\u306b\u8eca\u4e21\u306e\u8eca\u8f2a\u306e\u8235\u89d2\u3092\u8a08\u7b97\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><img decoding=\"async\" loading=\"lazy\" class=\"imageNode\" style=\"vertical-align: baseline;width: 500px;height: 225px\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_3.png\" alt=\"\" width=\"500\" height=\"225\" \/><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u64cd\u8235\u89d2\u306e\u5b9a\u5f0f\u5316\u3067\u308f\u304b\u308b\u3088\u3046\u306b\u3001\u5909\u6570\u306e1\u3064\u306f\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30c7\u30a3\u30b9\u30bf\u30f3\u30b9\u3067\u3059\u3002\u4e00\u822c\u7684\u306b\u306f\u3001\u89d2\u901f\u5ea6\u6307\u4ee4\u3092\u8a08\u7b97\u3059\u308b\u305f\u3081\u306b\u3001\u8eca\u4e21\u304c\u73fe\u5728\u5730\u304b\u3089\u8ecc\u9053\u306b\u6cbf\u3063\u3066\u3069\u306e\u7a0b\u5ea6\u306e\u8ddd\u96e2\u3092\u898b\u308b\u3079\u304d\u304b\u3092\u8868\u3057\u307e\u3059\u3002\u3053\u308c\u306f\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u7cbe\u5ea6\u3092\u78ba\u4fdd\u3059\u308b\u305f\u3081\u306e\u91cd\u8981\u306a\u8abf\u6574\u8981\u56e0\u306e1\u3064\u3067\u3059\u3002\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30c7\u30a3\u30b9\u30bf\u30f3\u30b9\u304c\u5c0f\u3055\u3044\u3068\u3001\u632f\u52d5\u7684\u306a\u8ecc\u9053\u306b\u306a\u308a\u3001\u6b63\u78ba\u306a\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u304c\u3067\u304d\u307e\u305b\u3093\u3002\u4e00\u65b9\u3001\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30c7\u30a3\u30b9\u30bf\u30f3\u30b9\u304c\u5927\u304d\u3044\u3068\u3001\u632f\u52d5\u7684\u306a\u8ecc\u9053\u306f\u5c11\u306a\u304f\u306a\u308a\u307e\u3059\u304c\u3001\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u304c\u3046\u307e\u304f\u3044\u304b\u306a\u3044\u3053\u3068\u304c\u3042\u308a\u307e\u3059\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><img decoding=\"async\" loading=\"lazy\" class=\"imageNode\" style=\"vertical-align: baseline;width: 415px;height: 128px\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_4.png\" alt=\"\" width=\"415\" height=\"128\" \/><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\"><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u3055\u3066\u3001\u5358\u7d14\u8ffd\u8de1\u578b\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306b\u3064\u3044\u3066\u7c21\u5358\u306b\u7d39\u4ecb\u3057\u307e\u3057\u305f\u304c\u3001\u4e0b\u306e\u753b\u50cf\u306fSimulink\u3067\u306e\u5b9f\u88c5\u3092\u793a\u3057\u305f\u3082\u306e\u3067\u3059\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\"><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><img decoding=\"async\" loading=\"lazy\" class=\"imageNode\" style=\"vertical-align: baseline;width: 957px;height: 517px\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_5.png\" alt=\"\" width=\"957\" height=\"517\" \/><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\n<p>\u5b9f\u88c5\u306b\u306f\u3001<\/p>\n<div>\u59ff\u52e2(Pose)\u3068\u53c2\u7167\u8ecc\u9053(Waypoints)\u306e2\u3064\u306e\u5165\u529b\u30dd\u30fc\u30c8\u304b\u3089\u76ee\u6a19\u65b9\u5411\u89d2\u5ea6(TargetDir)\u3092\u8a08\u7b97\u3059\u308b<a title=\"https:\/\/www.mathworks.com\/help\/robotics\/ref\/purepursuit.html\" href=\"https:\/\/www.mathworks.com\/help\/robotics\/ref\/purepursuit.html\" target=\"_blank\" rel=\"noreferrer noopener\">Pure Pursuit<\/a>\u30d6\u30ed\u30c3\u30af\u3092\u4f7f\u7528\u3057\u307e\u3057\u305f\u3002\u3053\u306e\u30d6\u30ed\u30c3\u30af\u3067\u306f\u3001\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30c7\u30a3\u30b9\u30bf\u30f3\u30b9\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u3092\u8abf\u6574\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3055\u3089\u306b\u3001\u4e0a\u8a18\u306e\u5f0f\u306b\u57fa\u3065\u304d\u3001\u5fc5\u8981\u306a\u8eca\u8f2a\u306e\u64cd\u8235\u89d2\u3092\u6c42\u3081\u308b\u3053\u3068\u3067\u3001\u4e0b\u56f3\u306e\u3088\u3046\u306a\u8ecc\u9053\u306b\u8eca\u4e21\u3092\u8ffd\u5f93\u3055\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/div>\n<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><img decoding=\"async\" loading=\"lazy\" class=\"imageNode\" style=\"vertical-align: baseline;width: 387px;height: 382px\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_6.png\" alt=\"\" width=\"387\" height=\"382\" \/><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u53c2\u8003\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u52d5\u753b\uff1a <a href=\"https:\/\/youtu.be\/zMdoLO4kRKg\" class=\"external\" rel=\"nofollow\" target=\"_blank\">https:\/\/youtu.be\/zMdoLO4kRKg<\/a><\/div>\n<h3 style=\"margin: 15px 10px 5px 4px;padding: 0px;line-height: 18px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 17px;font-weight: bold;text-align: left\">\u30b9\u30bf\u30f3\u30ec\u30fc\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc(Stanley Controller)<\/h3>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\n<p>\u6b21\u306b\u3001<a href=\"https:\/\/ieeexplore.ieee.org\/document\/4282788\" class=\"external\" rel=\"nofollow\" target=\"_blank\">\u30b9\u30bf\u30f3\u30d5\u30a9\u30fc\u30c9\u30ec\u30fc\u30b7\u30f3\u30b0\u30c1\u30fc\u30e0<\/a>\u304cDARPA\u30b0\u30e9\u30f3\u30c9\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u5b9f\u88c5\u3057\u305f\u30b9\u30bf\u30f3\u30ec\u30fc\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3092\u7d39\u4ecb\u3057\u307e\u3059\u3002\u30b9\u30bf\u30f3\u30ec\u30fc\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306f\u3001DARPA\u30b0\u30e9\u30f3\u30c9\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u30b9\u30bf\u30f3\u30d5\u30a9\u30fc\u30c9\u30ec\u30fc\u30b7\u30f3\u30b0\u30c1\u30fc\u30e0\u304c\u5b9f\u88c5\u3057\u305f\u3082\u306e\u3067\u3001\u57fa\u6e96\u8ecc\u9053\u306b\u5bfe\u3059\u308b\u524d\u8f2a\u306e\u4ea4\u5dee\u8ecc\u9053\u8aa4\u5dee\u3068\u65b9\u4f4d\u89d2\u3092\u6700\u5c0f\u5316\u3059\u308b<\/p>\n<div>\u975e\u7dda\u5f62\u5236\u5fa1\u5247\u3092\u7528\u3044\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u8eca\u4e21\u306e\u73fe\u5728\u306e\u59ff\u52e2\u3092\u57fa\u6e96\u59ff\u52e2\u306b\u5408\u308f\u305b\u308b\u64cd\u8235\u89d2\u30b3\u30de\u30f3\u30c9\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002<\/div>\n<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><img decoding=\"async\" loading=\"lazy\" class=\"imageNode\" style=\"vertical-align: baseline;width: 761px;height: 251px\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_7.png\" alt=\"\" width=\"761\" height=\"251\" \/><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">Simulink \u3067\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3092\u30e2\u30c7\u30eb\u5316\u3059\u308b\u305f\u3081\u306b\u3001<a href=\"https:\/\/www.mathworks.com\/help\/driving\/ref\/lateralcontrollerstanley.html\">Lateral Controller Stanley<\/a> \u30d6\u30ed\u30c3\u30af\u3092\u4f7f\u7528\u3057\u307e\u3057\u305f\u3002 \u30d6\u30ed\u30c3\u30af\u306f\u3001\u4e0a\u8a18\u306e\u5f0f\u306b\u57fa\u3065\u3044\u3066\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002 \u8208\u5473\u6df1\u3044\u306e\u306f\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u8a2d\u5b9a\u3092\u4f7f\u7528\u3057\u3066\u8eca\u4e21\u30e2\u30c7\u30eb\u306e\u30bf\u30a4\u30d7\u3092\u9078\u629e\u3067\u304d\u308b\u3053\u3068\u3067\u3059\u3002 \u305f\u3068\u3048\u3070\u3001\u99d0\u8eca\u5834\u306a\u3069\u306e\u4f4e\u901f\u8ffd\u8de1\u306b\u306fkinematic bicycle model\u3092\u4f7f\u7528\u3067\u304d\u307e\u3059\u304c\u3001\u30ec\u30fc\u30b9 \u30ab\u30fc\u306a\u3069\u306e\u9ad8\u901f\u8ffd\u8de1\u306b\u306fdynamic bicycle model\u3092\u4f7f\u7528\u3059\u308b\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002 \u3055\u3089\u306b\u3001\u4f4d\u7f6e\u3001\u30e8\u30fc \u30ec\u30fc\u30c8\u3001\u304a\u3088\u3073\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0 \u30b2\u30a4\u30f3\u3092\u8abf\u6574\u3057\u3066\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u7cbe\u5ea6\u3092\u5411\u4e0a\u3055\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\"><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><img decoding=\"async\" loading=\"lazy\" class=\"imageNode\" style=\"vertical-align: baseline;width: 952px;height: 551px\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_8.png\" alt=\"\" width=\"952\" height=\"551\" \/><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u5358\u7d14\u8ffd\u8de1\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u30e2\u30c7\u30eb\u3068\u540c\u69d8\u306b\u3001\u30b9\u30bf\u30f3\u30ec\u30fc\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3092\u4f7f\u7528\u3057\u3066\u8eca\u4e21\u8ecc\u9053\u8ffd\u8de1\u30e2\u30c7\u30eb\u3092\u69cb\u7bc9\u3057\u307e\u3057\u305f\u3002 \u8eca\u4e21\u30e2\u30c7\u30eb\u3068\u53c2\u7167\u8ecc\u9053\u306f\u540c\u3058\u307e\u307e\u3067\u3059\u3002 \u30e2\u30c7\u30eb\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u3068\u3001\u9ad8\u901f\u74b0\u5883\u3067\u8eca\u4e21\u304c\u76ee\u7684\u306e\u8ecc\u9053\u3092\u3046\u307e\u304f\u8ffd\u8de1\u3057\u3001\u6700\u5927\u901f\u5ea6 30 m\/s \u3092\u9054\u6210\u3057\u3066\u3044\u308b\u3053\u3068\u304c\u5206\u304b\u308a\u307e\u3059\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><img decoding=\"async\" loading=\"lazy\" class=\"imageNode\" style=\"vertical-align: baseline;width: 394px;height: 394px\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_9.png\" alt=\"\" width=\"394\" height=\"394\" \/><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u53c2\u8003\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u52d5\u753b\uff1a <a href=\"https:\/\/youtu.be\/FHQFya0-JBs\" class=\"external\" rel=\"nofollow\" target=\"_blank\">https:\/\/youtu.be\/FHQFya0-JBs<\/a><\/div>\n<h3 style=\"margin: 15px 10px 5px 4px;padding: 0px;line-height: 18px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 17px;font-weight: bold;text-align: left\">\u30e2\u30c7\u30eb\u4e88\u6e2c\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9 (Model Predictive Controller (MPC))<\/h3>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u6700\u5f8c\u306b\u3001Simulink \u3067\u306e\u30d1\u30b9 \u30c8\u30e9\u30c3\u30ad\u30f3\u30b0 \u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u7528\u306e MPC \u306e\u5b9f\u88c5\u3092\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002 MPC \u306f\u30aa\u30f3\u30e9\u30a4\u30f3\u6700\u9069\u5316\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u89e3\u3044\u3066\u3001\u4e88\u6e2c\u51fa\u529b\u3092\u57fa\u6e96\u306b\u5c0e\u304f\u6700\u9069\u306a\u5236\u5fa1\u30a2\u30af\u30b7\u30e7\u30f3\u3092\u898b\u3064\u3051\u307e\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u5165\u529b\u3068\u51fa\u529b\u306e\u9593\u306b\u76f8\u4e92\u4f5c\u7528\u304c\u3042\u308b\u53ef\u80fd\u6027\u306e\u3042\u308b\u591a\u5165\u529b\u591a\u51fa\u529b\u30b7\u30b9\u30c6\u30e0\u3068 \u5165\u529b\u3068\u51fa\u529b\u306e\u5236\u7d04\u3082\u51e6\u7406\u3067\u304d\u307e\u3059\u304c\u3001\u8a08\u7b97\u30b3\u30b9\u30c8\u304c\u9ad8\u3044\u3068\u3044\u3046\u30c7\u30e1\u30ea\u30c3\u30c8\u304c\u3042\u308a\u307e\u3059\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><img decoding=\"async\" loading=\"lazy\" class=\"imageNode\" style=\"vertical-align: baseline;width: 754px;height: 269px\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_10.png\" alt=\"\" width=\"754\" height=\"269\" \/><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u65e5\u672c\u4eba\u5411\u3051\u306b\u306f\u300c<a href=\"https:\/\/jp.mathworks.com\/videos\/series\/model-predictive-control.html\">\u30e2\u30c7\u30eb\u4e88\u6e2c\u5236\u5fa1\uff08MPC\uff09<\/a>\u300d\u306e\u30bf\u30a4\u30c8\u30eb\u3067 MATLAB\u30d3\u30c7\u30aa \u30b7\u30ea\u30fc\u30ba\u304c\u65e2\u306b\u3042\u308b\u305f\u3081\u3001\u3053\u306e\u30bb\u30af\u30b7\u30e7\u30f3\u3067\u306f\u8a73\u3057\u304f\u8aac\u660e\u3057\u307e\u305b\u3093\u3002 \u30d3\u30c7\u30aa\u3092\u898b\u3066\u3001MPC \u304c\u3069\u306e\u3088\u3046\u306b\u6a5f\u80fd\u3059\u308b\u304b\u3092\u5b66\u3073\u3001\u3053\u306e\u591a\u5909\u6570\u5236\u5fa1\u6280\u8853\u306e\u5229\u70b9\u3082\u767a\u898b\u3067\u304d\u307e\u3059\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">MPC \u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3092\u5b9f\u88c5\u3059\u308b\u305f\u3081\u306b\u3001\u6700\u521d\u306f\u6c4e\u7528\u306e <a href=\"https:\/\/www.mathworks.com\/help\/mpc\/ref\/mpccontroller.html\">MPC Controller<\/a>\u30d6\u30ed\u30c3\u30af\u304b\u3089\u59cb\u3081\u307e\u3057\u305f\u3002 \u305f\u3060\u3057\u3001<a href=\"https:\/\/www.mathworks.com\/help\/mpc\/ref\/pathfollowingcontrolsystem.html\">Path Following Control System<\/a> \u30d6\u30ed\u30c3\u30af\u306f\u3001\u8ecc\u9053\u3092\u8ffd\u8de1\u3059\u308b\u305f\u3081\u306e\u3088\u308a\u512a\u308c\u305f\u4ee3\u66ff\u624b\u6bb5\u3067\u3059\u3002 \u4e00\u822c\u306b\u3001\u30d6\u30ed\u30c3\u30af\u306f\u3001\u8a2d\u5b9a\u3055\u308c\u305f\u901f\u5ea6\u3092\u8ffd\u8de1\u3057\u3001\u5148\u884c\u8eca\u4e21\u304b\u3089\u306e\u5b89\u5168\u306a\u8ddd\u96e2\u3092\u7dad\u6301\u3057\u306a\u304c\u3089\u3001\u81ea\u8eca\u4e21\u304c\u76f4\u7dda\u307e\u305f\u306f\u66f2\u7dda\u9053\u8def\u306e\u4e2d\u5fc3\u306b\u6cbf\u3063\u3066\u8d70\u884c\u3057\u7d9a\u3051\u308b\u3053\u3068\u3092\u76ee\u7684\u3068\u3057\u3066\u3044\u307e\u3059\u3002 \u305f\u3060\u3057\u3001\u8a2d\u5b9a\u901f\u5ea6\u3092\u30d3\u30fc\u30af\u30eb\u306e\u57fa\u6e96\u901f\u5ea6\u306b\u8a2d\u5b9a\u3057\u3001\u8ddd\u96e2\u30d9\u30fc\u30b9\u306e\u66f2\u7387\u3092\u66f2\u7387\u30dd\u30fc\u30c8\u306b\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u3001\u8ecc\u8de1\u3092\u305f\u3069\u308b\u3088\u3046\u306b\u5b9f\u88c5\u3057\u307e\u3057\u305f\u3002 \u3055\u3089\u306b\u3001\u30d6\u30ed\u30c3\u30af\u306e\u51fa\u529b\u306f\u7e26\u65b9\u5411\u306e\u52a0\u901f\u5ea6\u3067\u3042\u308b\u305f\u3081\u3001\u30da\u30c0\u30eb \u30de\u30c3\u30d7\u3092\u63a5\u7d9a\u3057\u3066\u3001\u5fc5\u8981\u306a\u52a0\u901f\u3068\u6e1b\u901f\u306e\u30b3\u30de\u30f3\u30c9\u3092\u53d6\u5f97\u3057\u307e\u3057\u305f\u3002<\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: center\"><img decoding=\"async\" loading=\"lazy\" class=\"imageNode\" style=\"vertical-align: baseline;width: 957px;height: 673px\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_11.png\" alt=\"\" width=\"957\" height=\"673\" \/><\/div>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u6700\u5f8c\u306b\u3001\u4e88\u6e2c\u7bc4\u56f2\u3001\u5236\u5fa1\u7bc4\u56f2\u306a\u3069\u306e\u9069\u5207\u306a\u8a2d\u8a08\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u3092\u9078\u629e\u3057\u305f\u5f8c\u3001\u30e2\u30c7\u30eb\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30c8\u3057\u3001\u8eca\u4e21\u304c\u8ecc\u9053\u3092\u5b8c\u5168\u306b\u8ffd\u8de1\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002<\/div>\n<h2 style=\"margin: 20px 10px 5px 4px;padding: 0px;line-height: 20px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 20px;font-weight: bold;text-align: center\"><img decoding=\"async\" loading=\"lazy\" class=\"imageNode\" style=\"vertical-align: baseline;width: 374px;height: 376px\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_12.png\" alt=\"\" width=\"374\" height=\"376\" \/><\/h2>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u53c2\u8003\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u52d5\u753b\uff1a <a href=\"https:\/\/youtu.be\/SzEg_C-XJ14\" class=\"external\" rel=\"nofollow\" target=\"_blank\">https:\/\/youtu.be\/SzEg_C-XJ14<\/a><\/div>\n<h2 style=\"margin: 20px 10px 5px 4px;padding: 0px;line-height: 20px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 20px;font-weight: bold;text-align: left\">\u72ec\u81ea\u306e\u30e2\u30c7\u30eb\u3092\u69cb\u7bc9\u3059\u308b\u6642\u304c\u6765\u307e\u3057\u305f<\/h2>\n<div style=\"margin: 2px 10px 9px 4px;padding: 0px;line-height: 21px;min-height: 0px;font-family: Helvetica, Arial, sans-serif;font-style: normal;font-size: 14px;font-weight: 400;text-align: left\">\u3053\u306e\u30d6\u30ed\u30b0\u3067\u306f\u3001\u4e0a\u8a18\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u6280\u8853\u7684\u306a\u8a73\u7d30\u3092\u3059\u3079\u3066\u53d6\u308a\u4e0a\u3052\u3066\u3044\u308b\u308f\u3051\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u304c\u3001\u3053\u308c\u3089\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u3092 MATLAB \u304a\u3088\u3073 Simulink \u306b\u5b9f\u88c5\u3059\u308b\u65b9\u6cd5\u306e\u6982\u8981\u3092\u8aac\u660e\u3057\u3066\u3044\u307e\u3059\u3002 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href=\"http:\/\/racinglounge@mathworks.com\">racinglounge@mathworks.com<\/a>\u307e\u3067\u304a\u6c17\u8efd\u306b\u304a\u554f\u3044\u5408\u308f\u305b\u304f\u3060\u3055\u3044\u3002<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<div class=\"overview-image\"><img decoding=\"async\"  class=\"img-responsive\" src=\"https:\/\/blogs.mathworks.com\/japan-community\/files\/2023\/03\/Trajectory_Tracking_Controllers_JP_1.png\" onError=\"this.style.display ='none';\" \/><\/div>\n<p>\u304a\u4e45\u3057\u3076\u308a\u3067\u3059\u3002\u5b66\u751f\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u62c5\u5f53\u3057\u3066\u3044\u308b\u98ef\u5cf6\u3067\u3059\u3002<br \/>\n\u672c\u65e5\u306e\u30d6\u30ed\u30b0\u306e\u8a18\u4e8b\u306f\u3001MathWorks\u306e\u6d77\u5916\u7248\u306e\u30d6\u30ed\u30b0\u306b\u3082\u63b2\u8f09\u3055\u308c\u3001\u4eba\u6c17\u3060\u3063\u305f\u201d\u81ea\u52d5\u8d70\u884c\u8ecc\u9053\u8a08\u753b\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u201d\u306b\u95a2\u3059\u308b\u8a18\u4e8b\u3092\u548c\u8a33\u3055\u305b\u3066\u3044\u305f\u3060\u304d\u307e\u3057\u305f\u3002\u3053\u3061\u3089\u306e\u8a18\u4e8b\u306f\u81ea\u52d5\u8eca\u696d\u754c\u3067\u8eca\u4e21\u8a2d\u8a08\u3092\u884c\u3063\u3066\u3044\u308b\u65b9\u3005\u306b\u30d2\u30c3\u30c8\u3059\u308b\u5185\u5bb9\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u306e\u3067\u305c\u3072\u6700\u5f8c\u307e\u3067\u304a\u697d\u3057\u307f\u304f\u3060\u3055\u3044\u3002\uff08\u30aa\u30ea\u30b8\u30ca\u30eb\u8a18\u4e8b\uff09<\/p>\n<p>\u4ee5\u4e0b\u548c\u8a33&#8230; <a class=\"read-more\" href=\"https:\/\/blogs.mathworks.com\/japan-community\/2023\/03\/29\/trajectory_tracking_controllers\/\">read more >><\/a><\/p>\n","protected":false},"author":171,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1],"tags":[],"_links":{"self":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts\/8715"}],"collection":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/users\/171"}],"replies":[{"embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/comments?post=8715"}],"version-history":[{"count":6,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts\/8715\/revisions"}],"predecessor-version":[{"id":8730,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/posts\/8715\/revisions\/8730"}],"wp:attachment":[{"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/media?parent=8715"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/categories?post=8715"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blogs.mathworks.com\/japan-community\/wp-json\/wp\/v2\/tags?post=8715"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}