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経路の未来情報を利用した車輪型自立移動ロボットの経路追従制御
http://hdl.handle.net/10258/00008863
http://hdl.handle.net/10258/000088639e0c1768-d248-4ee1-bd0f-62e4be09c294
名前 / ファイル | ライセンス | アクション |
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12_4_630.pdf (3.4 MB)
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Item type | 学術雑誌論文 / Journal Article.(1) | |||||
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公開日 | 2016-04-27 | |||||
タイトル | ||||||
言語 | ja | |||||
タイトル | 経路の未来情報を利用した車輪型自立移動ロボットの経路追従制御 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Path-Tracking of Wheeled Mobile Robot Using Preview and Predictive Control | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Path Control | |||||
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 | Preview Control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Predictive Control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Tracking Control | |||||
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 |
橋本, 幸男
× 橋本, 幸男× 王, 碩玉× 土谷, 武士× 松田, 敏彦 |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper describes a method to make a wheeled mobile robot follow a given path just like a driver would decelerate the speed of a car before a corner and accelerate it on the straight course of the road. Two kinds of velocity vectors are introduced to determine an optimal direction and speed of the robot in order to follow the path. The velocity defined as a function of curvature of the path is mainly utilized to change the speed of the robot along the path. The other velocity given as the tangent of a virtual potential function produces an attraction force toward the path. Path tracking control of the robot is formulated with current and future sets of these velocity vectors in a frame of the digital preview and predictive control. By this method, the robust tracking performance is achieved. | |||||
言語 | en | |||||
書誌情報 |
ja : 日本ロボット学会誌 en : Journal of the Robotics Society of Japan 巻 12, 号 4, p. 630-637, 発行日 1994-05-15 |
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出版者 | ||||||
言語 | ja | |||||
出版者 | 日本ロボット学会 | |||||
出版者版へのリンク | ||||||
10.7210/jrsj.12.630 | ||||||
https://doi.org/10.7210/jrsj.12.630 | ||||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.7210/jrsj.12.630 | |||||
論文ID(NAID) | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | NAID | |||||
関連識別子 | 10006720056 | |||||
日本十進分類法 | ||||||
主題Scheme | NDC | |||||
主題 | 548 | |||||
ISSN | ||||||
収録物識別子タイプ | PISSN | |||||
収録物識別子 | 02891824 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
権利 | ||||||
言語 | ja | |||||
権利情報 | © 1994 日本ロボット学会 | |||||
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/jrsj1983/12/4/12_4_630/_pdf | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf |