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繰り返し順変換を用いた独立二輪駆動型移動ロボットにおける移動経路の生成
http://hdl.handle.net/2297/43207
http://hdl.handle.net/2297/432072de74b95-271d-472b-863d-29eff3c547cb
名前 / ファイル | ライセンス | アクション |
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TE-PR-SEKI-H-506.pdf (1.2 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2017-10-03 | |||||
タイトル | ||||||
タイトル | 繰り返し順変換を用いた独立二輪駆動型移動ロボットにおける移動経路の生成 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Trajectory Generation of Wheeled Mobile Robot by Repeatedly Direct Kinematics | |||||
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 | |||||
著者 |
関, 啓明
× 関, 啓明× 高, 正× 神谷, 好承× 疋津, 正利× 張, 勤 |
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書誌情報 |
精密工学会誌論文集 = Journal of the Japan Society for Precision Engineering. Supplement. Contributed papers 巻 71, 号 4, p. 506-511, 発行日 2005-01-01 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1348-8724 | |||||
NCID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AA11966630 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.2493/jspe.71.506 | |||||
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 | 車輪型移動ロボットは非ホロノミックなシステムであり, このため一般的な制御理論の適用が難しいシステムである. 本研究においてはこうした移動ロボットに対して繰り返し順変換の手法を用いることを提案する. 繰り返し順変換においては2つの車輪に前進と後退の微動を与え, その結果として得られる移動ロボットの位置および姿勢を評価し, 最も適切な2つの車輪の微動を逐次決定していく手法である. 本アルゴリズムを用いたとき, 心地旋回が不可能な移動ロボットに対して, 移動ロボットの後退, 旋回, 前進の3動作を自動的に含む非常に効率のよいロボットの経路生成が可能である. In all of the two-wheeled mobile robot system, we need the robot get the goal with measured position and orientation(x,y,θ). As we know, for giving the movements of left and right wheels to control the position and orientation, this system is a typical nonholonomic system. We can't use the general control theory about mobile robots to deal with it. In this paper, based on repeatedly direct kinematics, we describe the design and kinematics of the two-wheeled car mobile system using tiny movements to follow the track from initial configuration to the goal configuration. In this system, we can easily get the best path of two-wheeled mobile robot system even if the mobile robot can't make a center rotation. | |||||
権利 | ||||||
権利情報 | Copyright © The Japan Society for Precision Engineering 精密工学会 | |||||
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 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.jspe.or.jp/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://www.jstage.jst.go.jp/browse/jspe/-char/ja/ |