Publications / 2002 Proceedings of the 19th ISARC, Washington, USA

Intelligent Driving Control System - Automated Driving Management and Control System Using Optimum Control Theory

T. Awata, K. Yoshida, H. Hino
Pages 437-442 (2002 Proceedings of the 19th ISARC, Washington, USA, ISSN 2413-5844)

To realize the all NO-DIG (trenchless method) operation of conduit installation, NTT developed the microtunneling method ?ACEMOLE? allowing long-distance and curved installations and promoted use of this method. NO-DIG method is not widespread in construction works because its construction cost is not economically compared with opencut method. We developed new ACEMOLE to solve these problems drastically and realize NO-DIG entirely. Especially position-detection system using fiber-optic gyroscope and intelligent driving control system using optimum control theory make possible to control microtunneling machines accurately without operators skills and to disseminate NO-DIG technology smoothly.

Keywords: NO-DIG(trenchless method), microtunneling robot, fiber optic gyroscope, directional control, Kalman filter