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非ホロノミック移動体の形状を考慮した実用的な障害物回避: ポテンシャル法の長方形車体への適用
http://hdl.handle.net/2297/42710
http://hdl.handle.net/2297/42710134472c3-659e-433a-bab7-93a44d30e910
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-SEKI-H-853.pdf (1.6 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-10-03 | |||||
| タイトル | ||||||
| タイトル | 非ホロノミック移動体の形状を考慮した実用的な障害物回避: ポテンシャル法の長方形車体への適用 | |||||
| タイトル | ||||||
| タイトル | Practical Obstacle Avoidance for a Nonholonmic Vehicle Considering Its Shape: Application of Potential Field to Rectangular Body | |||||
| 言語 | en | |||||
| 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× 柴山, 智志× 神谷, 好承× 疋津, 正利 |
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| 書誌情報 |
精密工学会誌 = Journal of the Japan Society for Precision Engineering 巻 74, 号 8, p. 853-858, 発行日 2008-01-01 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 0912-0289 | |||||
| NCID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AN1003250X | |||||
| DOI | ||||||
| 関連タイプ | isIdenticalTo | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.2493/jjspe.74.853 | |||||
| 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 | A fast obstacle avoidance algorithm based on sensor data is required for an autonomous vehicle to move at high speed. When a vehicle is nonholonomic and it has polygonal body, the method using configuration space is usually applied to such a vehicle. But, it is complex and it needs much computing power. On the other hand, artificial potential field is often used for real-time obstacle avoidance, however, most of them consider a vehicle as an omnidirectional movable point. Therefore, we propose a new method of practical obstacle avoidance for a nonholonomic vehicle with rectangular body. Application points of repulsive forces from obstacles are located in both the front and rear of vehicle's body. Their forces are generated according to the distances between obstacle and vehicle's body. Rear forces are transferred to the front by inverting and the resultant force moves the vehicle. This idea is very simple and its effectiveness has been shown by simulation. | |||||
| 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 | https://www.jstage.jst.go.jp/browse/jjspe/-char/ja/ | |||||
| 関連URI | ||||||
| 識別子タイプ | URI | |||||
| 関連識別子 | http://www.jspe.or.jp/ | |||||
