@article{oai:muroran-it.repo.nii.ac.jp:00010148,
 author = {大谷, 充人 and OTANI, Shuto and HANAJIMA,  Naohiko and 花島, 直彦 and 吉田,  英樹 and YOSHIDA, Hideki},
 issue = {850},
 journal = {日本機械学会論文集, Transactions of the JSME (in Japanese)},
 month = {},
 note = {application/pdf, 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.},
 title = {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},
 volume = {83},
 year = {2017},
 yomi = {ハナジマ, ナオヒコ and ヨシダ, ヒデキ}
}