{"created":"2023-06-19T10:29:23.047777+00:00","id":9209,"links":{},"metadata":{"_buckets":{"deposit":"d5f3e0c4-34bb-4813-935c-ac4c7a027429"},"_deposit":{"created_by":18,"id":"9209","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"9209"},"status":"published"},"_oai":{"id":"oai:muroran-it.repo.nii.ac.jp:00009209","sets":["216:239","216:270","216:428","216:429","35:426"]},"author_link":["57373","5812","11088","54229","54231"],"item_77_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2017-03-24","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"27","bibliographicPageStart":"17","bibliographicVolumeNumber":"66","bibliographic_titles":[{"bibliographic_title":"室蘭工業大学紀要","bibliographic_titleLang":"ja"},{"bibliographic_title":"Memoirs of the Muroran Institute of Technology","bibliographic_titleLang":"en"}]}]},"item_77_description_23":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_77_description_7":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_77_description_8":{"attribute_name":"注記","attribute_value_mlt":[{"subitem_description":"特集","subitem_description_language":"ja","subitem_description_type":"Other"}]},"item_77_link_5":{"attribute_name":"室蘭工業大学研究者データベースへのリンク","attribute_value_mlt":[{"subitem_link_text":"花島 直彦（HANAJIMA Naohiko）","subitem_link_url":"http://rdsoran.muroran-it.ac.jp/html/100000017_ja.html"},{"subitem_link_text":"吉田 英樹（YOSHIDA Hideki）","subitem_link_url":"http://rdsoran.muroran-it.ac.jp/html/100000261_ja.html"},{"subitem_link_text":"藤平 祥孝（FUJIHIRA Yoshinori）","subitem_link_url":"http://rdsoran.muroran-it.ac.jp/html/100000060_ja.html"},{"subitem_link_text":"水上 雅人（MIZUKAMI Masato）","subitem_link_url":"http://rdsoran.muroran-it.ac.jp/html/100000243_ja.html"}]},"item_77_publisher_11":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"室蘭工業大学","subitem_publisher_language":"ja"}]},"item_77_rights_19":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"© 2017 室蘭工業大学","subitem_rights_language":"ja"}]},"item_77_source_id_12":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"13442708","subitem_source_identifier_type":"PISSN"}]},"item_77_source_id_14":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11912609","subitem_source_identifier_type":"NCID"}]},"item_77_subject_9":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"537","subitem_subject_scheme":"NDC"}]},"item_77_version_type_21":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open 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ケイスケ","creatorNameLang":"ja-Kana"}],"familyNames":[{"familyName":"平岡","familyNameLang":"ja"},{"familyName":"HIRAOKA","familyNameLang":"en"},{"familyName":"ヒラオカ","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"圭介","givenNameLang":"ja"},{"givenName":"Keisuke","givenNameLang":"en"},{"givenName":"ケイスケ","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"54229","nameIdentifierScheme":"WEKO"}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[{"affiliationNameIdentifier":"10103","affiliationNameIdentifierScheme":"kakenhi"}],"affiliationNames":[{"affiliationName":"室蘭工業大学","affiliationNameLang":"ja"},{"affiliationName":"Muroran Institute of Technology","affiliationNameLang":"en"}]}],"creatorNames":[{"creatorName":"HANAJIMA,  Naohiko","creatorNameLang":"en"},{"creatorName":"花島, 直彦","creatorNameLang":"ja"},{"creatorName":"ハナジマ, 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祥孝","creatorNameLang":"ja"}],"familyNames":[{"familyName":"FUJIHIRA","familyNameLang":"en"},{"familyName":"フジヒラ","familyNameLang":"ja-Kana"},{"familyName":"藤平","familyNameLang":"ja"}],"givenNames":[{"givenName":"Yoshinori","givenNameLang":"en"},{"givenName":"ヨシノリ","givenNameLang":"ja-Kana"},{"givenName":"祥孝","givenNameLang":"ja"}],"nameIdentifiers":[{"nameIdentifier":"57373","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"1000040783379","nameIdentifierScheme":"NRID","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000040783379"}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[{"affiliationNameIdentifier":"10103","affiliationNameIdentifierScheme":"kakenhi"}],"affiliationNames":[{"affiliationName":"室蘭工業大学","affiliationNameLang":"ja"},{"affiliationName":"Muroran Institute of Technology","affiliationNameLang":"ja"}]}],"creatorNames":[{"creatorName":"水上, 雅人","creatorNameLang":"ja"},{"creatorName":"MIZUKAMI, Masato","creatorNameLang":"en"},{"creatorName":"ミズカミ, マサト","creatorNameLang":"ja-Kana"}],"familyNames":[{"familyName":"水上","familyNameLang":"ja"},{"familyName":"MIZUKAMI","familyNameLang":"en"},{"familyName":"ミズカミ","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"雅人","givenNameLang":"ja"},{"givenName":"Masato","givenNameLang":"en"},{"givenName":"マサト","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"54231","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2017-03-24"}],"displaytype":"detail","filename":"66_17.pdf","filesize":[{"value":"1.5 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robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"traverse","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_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","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_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","subitem_title_language":"ja"},{"subitem_title":"Ditches crossing considering approach angles for car-like robots by Path-generating regulator","subitem_title_language":"en"}]},"item_type_id":"77","owner":"18","path":["426","428","429","239","270"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2017-03-23"},"publish_date":"2017-03-23","publish_status":"0","recid":"9209","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_creator_id":"18","weko_shared_id":-1},"updated":"2024-01-25T06:17:22.278372+00:00"}