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"relation": {}, "relation_version_is_last": true, "title": ["経路生成形レギュレータによる進入角度を考慮した四輪車両の溝横断走行"], "weko_shared_id": -1}
経路生成形レギュレータによる進入角度を考慮した四輪車両の溝横断走行
http://hdl.handle.net/10258/00009178
http://hdl.handle.net/10258/00009178220c2557-1272-44b1-9ae5-d795b1600cbc
名前 / ファイル | ライセンス | アクション |
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66_17.pdf (1.5 MB)
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Item type | 紀要論文 / Departmental Bulletin Paper(1) | |||||||||||||||||||||||||||||
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公開日 | 2017-03-23 | |||||||||||||||||||||||||||||
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進入角度を考慮した四輪車両の溝横断走行 | |||||||||||||||||||||||||||||
タイトル | ||||||||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||||||||
タイトル | Ditches crossing considering approach angles for car-like robots by Path-generating regulator | |||||||||||||||||||||||||||||
言語 | ||||||||||||||||||||||||||||||
言語 | jpn | |||||||||||||||||||||||||||||
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 | ditches | |||||||||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||||||||
主題 | approach angles | |||||||||||||||||||||||||||||
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 | traverse | |||||||||||||||||||||||||||||
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 | departmental bulletin paper | |||||||||||||||||||||||||||||
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 |
平岡, 圭介
× 平岡, 圭介× 花島, 直彦
WEKO
5812
× 吉田, 英樹
WEKO
11088
× 藤平, 祥孝
WEKO
57373
× 水上, 雅人
WEKO
54231
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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 | ||||||||||||||||||||||||||||||
室蘭工業大学研究者データベースへのリンク | ||||||||||||||||||||||||||||||
藤平 祥孝(FUJIHIRA Yoshinori) | ||||||||||||||||||||||||||||||
http://rdsoran.muroran-it.ac.jp/html/100000060_ja.html | ||||||||||||||||||||||||||||||
室蘭工業大学研究者データベースへのリンク | ||||||||||||||||||||||||||||||
水上 雅人(MIZUKAMI Masato) | ||||||||||||||||||||||||||||||
http://rdsoran.muroran-it.ac.jp/html/100000243_ja.html | ||||||||||||||||||||||||||||||
抄録 | ||||||||||||||||||||||||||||||
内容記述タイプ | Abstract | |||||||||||||||||||||||||||||
内容記述 | In the uneven terrain such as landfill, there are drainage ditches for draining rainwater. Width and depth of the ditch considerably varies depending on position in it. Therefore, it is important to choose appropriate position and approach angle toward the ditch for the car-like robot to traverse the ditch without slip or stuck. We have proposed a navigation method in which the car-like robot follows the straight line across the ditch to realize the appropriate position and approach angle using the path-generating regulator functionality. In this paper, we applied the method to an autonomous all-terrain vehicle and discussed the experimental results. We found out the following results. At the moment that the robot started to follow the straight line, if the magnitude of the attitude angle error to a target value was small, it was able to track the straight line before reaching the ditch. If not, it tended to be difficult to reach the ditch before reaching. We made some proposal for improvement about this issue as well. | |||||||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||||||||
書誌情報 |
ja : 室蘭工業大学紀要 en : Memoirs of the Muroran Institute of Technology 巻 66, p. 17-27, 発行日 2017-03-24 |
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注記 | ||||||||||||||||||||||||||||||
内容記述タイプ | Other | |||||||||||||||||||||||||||||
内容記述 | 特集 | |||||||||||||||||||||||||||||
言語 | ja | |||||||||||||||||||||||||||||
出版者 | ||||||||||||||||||||||||||||||
言語 | ja | |||||||||||||||||||||||||||||
出版者 | 室蘭工業大学 | |||||||||||||||||||||||||||||
日本十進分類法 | ||||||||||||||||||||||||||||||
主題Scheme | NDC | |||||||||||||||||||||||||||||
主題 | 537 | |||||||||||||||||||||||||||||
ISSN | ||||||||||||||||||||||||||||||
収録物識別子タイプ | PISSN | |||||||||||||||||||||||||||||
収録物識別子 | 13442708 | |||||||||||||||||||||||||||||
書誌レコードID | ||||||||||||||||||||||||||||||
収録物識別子タイプ | NCID | |||||||||||||||||||||||||||||
収録物識別子 | AA11912609 | |||||||||||||||||||||||||||||
権利 | ||||||||||||||||||||||||||||||
言語 | ja | |||||||||||||||||||||||||||||
権利情報 | © 2017 室蘭工業大学 | |||||||||||||||||||||||||||||
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 | |||||||||||||||||||||||||||||
フォーマット | ||||||||||||||||||||||||||||||
内容記述タイプ | Other | |||||||||||||||||||||||||||||
内容記述 | application/pdf |