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移動体の形状を考慮して障害物を回避する走行軌道修正法: 電動車いすへの応用
https://doi.org/10.24517/00050321
https://doi.org/10.24517/000503213d0d7020-cebe-49d2-bc65-7dbc050dfbb8
名前 / ファイル | ライセンス | アクション |
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TE-PR-SEKI-H-1157.pdf (840.2 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2018-06-15 | |||||
タイトル | ||||||
タイトル | 移動体の形状を考慮して障害物を回避する走行軌道修正法: 電動車いすへの応用 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Obstacle Avoidance of a Vehicle Considering Its Shape | |||||
言語 | ||||||
言語 | jpn | |||||
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 | |||||
ID登録 | ||||||
ID登録 | 10.24517/00050321 | |||||
ID登録タイプ | JaLC | |||||
著者 |
柴山, 智志
× 柴山, 智志× 関, 啓明× 神谷, 好承× 疋津, 正利 |
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著者別表示 |
Shibayama, Satoshi
× Shibayama, Satoshi× Seki, Hiroaki× Kamiya, Yoshitsugu× Hikizu, Masatoshi |
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提供者所属 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 金沢大学理工研究域機械工学系 | |||||
書誌情報 |
精密工学会学術講演会講演論文集 en : 2007 JSPE Spring Meeting 巻 2007 Spring, 号 M39, p. 1157-1158, 発行日 2007 |
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NCID | ||||||
識別子タイプ | NCID | |||||
関連識別子 | BA90159927 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.11522/pscjspe.2007S.0.1157.0 | |||||
出版者 | ||||||
出版者 | 精密工学会 = The Japan Society for Precision Engineering | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | In many researches for obstacle avoidance, the shape of a vehicle with two drive wheels is approximated by a circle and it can be treated easily as an omnidirectionaly movable point by expanding obstacles by its radius. However, this method is not effective for a vehicle with much different shape from a circle to pass through narrow spaces. Therefore, we propose a simple method of local obstacle avoidance considering vehicle's shape. A vehicle's shape is expressed as a polygon and outline points on obstacles are scanned by a laser range sensor on the vehicle. The direction to avoid obstacles is determined by the potential method between the edges of polygonal vehicle and the points of obstacles. In this report, we apply this method to the navigation of a powered wheelchair. 独立二輪駆動方式の移動体での障害物回避に関する研究は多くなされている.その多くは移動体を円形近似し全方向移動可能な質点として軌道を生成しているが,電動車いすなどが屋内などの狭い空間を通過するような場合には通路が潰れてしまうなどの理由からその方法は適用しにくい.そこで我々は移動体の形状を多角形で近似することにより局所的な障害物回避方法を提案し,実際に電動車いすに適用した. | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 出版者照会後に全文公開 | |||||
権利 | ||||||
権利情報 | Copyright © The Japan Society for Precision Engineering | |||||
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 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://www.jstage.jst.go.jp/browse/pscjspe/-char/ja/ | |||||
関連名称 | https://www.jstage.jst.go.jp/browse/pscjspe/-char/ja/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.jspe.or.jp/ | |||||
関連名称 | http://www.jspe.or.jp/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.jspe.or.jp/publication/ext_site/jstage/ | |||||
関連名称 | http://www.jspe.or.jp/publication/ext_site/jstage/ |