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経路生成形レギュレータによる必要に応じ経路を修整可能な観測データ収集車両の誘導制御
http://hdl.handle.net/10258/00010095
http://hdl.handle.net/10258/000100955badc072-2dfe-4bcf-a47f-57f2d378207f
名前 / ファイル | ライセンス | アクション |
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TJSME_16-00317 (9.2 MB)
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Item type | 学術雑誌論文 / Journal Article.(1) | |||||||||||||||||
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公開日 | 2019-12-18 | |||||||||||||||||
タイトル | ||||||||||||||||||
言語 | ja | |||||||||||||||||
タイトル | 経路生成形レギュレータによる必要に応じ経路を修整可能な観測データ収集車両の誘導制御 | |||||||||||||||||
タイトル | ||||||||||||||||||
言語 | en | |||||||||||||||||
タイトル | Path-generating regulator for a car-like robot navigation considering necessity of observation | |||||||||||||||||
言語 | ||||||||||||||||||
言語 | jpn | |||||||||||||||||
キーワード | ||||||||||||||||||
言語 | en | |||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Car-like robot | |||||||||||||||||
キーワード | ||||||||||||||||||
言語 | en | |||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Environment survey | |||||||||||||||||
キーワード | ||||||||||||||||||
言語 | en | |||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Mobile robot | |||||||||||||||||
キーワード | ||||||||||||||||||
言語 | en | |||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Navigation | |||||||||||||||||
キーワード | ||||||||||||||||||
言語 | en | |||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Path-generating regulator | |||||||||||||||||
キーワード | ||||||||||||||||||
言語 | en | |||||||||||||||||
主題Scheme | Other | |||||||||||||||||
主題 | Prediction model | |||||||||||||||||
資源タイプ | ||||||||||||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||||||
資源タイプ | journal article | |||||||||||||||||
アクセス権 | ||||||||||||||||||
アクセス権 | open access | |||||||||||||||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||||||||
著者 |
大谷, 充人
× 大谷, 充人× 花島, 直彦
WEKO
5812
× 吉田, 英樹
WEKO
11088
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室蘭工業大学研究者データベースへのリンク | ||||||||||||||||||
花島 直彦(HANAJIMA Naohiko) | ||||||||||||||||||
http://rdsoran.muroran-it.ac.jp/html/100000017_ja.html | ||||||||||||||||||
室蘭工業大学研究者データベースへのリンク | ||||||||||||||||||
吉田 英樹(YOSHIDA Hideki) | ||||||||||||||||||
http://rdsoran.muroran-it.ac.jp/html/100000261_ja.html | ||||||||||||||||||
抄録 | ||||||||||||||||||
内容記述タイプ | Abstract | |||||||||||||||||
内容記述 | In this study, we discuss a problem to collect observation data with one mobile robot in extensive investigation field. When the measurement of observation data is carried out by the mobile robot, the setting of running-path and navigation are important for appropriate measurement. Usually reciprocating straight paths at even interval are employed to collect data with spatially uniform density. However it is possible that some area between the straight paths requires detailed measurement.Themethodproposedinthispapermakesitpossiblethatinordinarysituationtherobotfollowsthestraight path, in the proximity of the area with need of observation it leaves the straight path toward the area, after that returns to the preceding straight path. Recently the path-generating regulator (PGR) has been applied to a tracking problem along a straightpassageforcar-likerobots.ThePGRisacontrolmethodforavehiclesoastoorientitsheadingtowardatangent to one of the curves belonging to a family of path functions. In this paper, we append a property to the PGR tracking the straight passage to modify the target heading angle in accordance with necessity of observation and to realize the motion toward the area with need of observation. To confirm the efficiency of the proposed method, two types of simulations are performed. The first simulation shows how a level of necessity of observation and a range to the area changes the locus of the mobile robot. In the second simulation, the mobile robot is satisfactorily guided by the level of necessity of observation obtained from actual measured data in a survey site. | |||||||||||||||||
言語 | en | |||||||||||||||||
書誌情報 |
ja : 日本機械学会論文集 en : Transactions of the JSME (in Japanese) 巻 83, 号 850, p. 16-00317, 発行日 2017 |
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出版者 | ||||||||||||||||||
言語 | ja | |||||||||||||||||
出版者 | 日本機械学会 | |||||||||||||||||
出版者版へのリンク | ||||||||||||||||||
10.1299/transjsme.16-00317 | ||||||||||||||||||
https://doi.org/10.1299/transjsme.16-00317 | ||||||||||||||||||
DOI | ||||||||||||||||||
関連タイプ | isIdenticalTo | |||||||||||||||||
識別子タイプ | DOI | |||||||||||||||||
関連識別子 | 10.1299/transjsme.16-00317 | |||||||||||||||||
論文ID(NAID) | ||||||||||||||||||
関連タイプ | isIdenticalTo | |||||||||||||||||
識別子タイプ | NAID | |||||||||||||||||
関連識別子 | 130006943571 | |||||||||||||||||
日本十進分類法 | ||||||||||||||||||
主題Scheme | NDC | |||||||||||||||||
主題 | 536 | |||||||||||||||||
ISSN | ||||||||||||||||||
収録物識別子タイプ | EISSN | |||||||||||||||||
収録物識別子 | 2187-9761 | |||||||||||||||||
権利 | ||||||||||||||||||
言語 | ja | |||||||||||||||||
権利情報 | © 2017 日本機械学会 | |||||||||||||||||
著者版フラグ | ||||||||||||||||||
出版タイプ | VoR | |||||||||||||||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||||||
主となる版 | ||||||||||||||||||
関連タイプ | isVersionOf | |||||||||||||||||
識別子タイプ | URI | |||||||||||||||||
関連識別子 | https://www.jstage.jst.go.jp/article/transjsme/83/850/83_16-00317/_pdf/-char/ja | |||||||||||||||||
フォーマット | ||||||||||||||||||
内容記述タイプ | Other | |||||||||||||||||
内容記述 | application/pdf |