WEKO3
アイテム
移動ロボットの自律誘導の一方法
http://hdl.handle.net/2261/7223
http://hdl.handle.net/2261/72238eebe3ed-91b2-4072-86ba-36449b200b65
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
0203B046.pdf (631.8 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2010-03-12 | |||||
| タイトル | ||||||
| タイトル | 移動ロボットの自律誘導の一方法 | |||||
| 言語 | ||||||
| 言語 | jpn | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | autonomous locomotion | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | navigation | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | mobile robot | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | landmark | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | ultrasonic sensor | |||||
| 資源タイプ | ||||||
| 資源 | http://purl.org/coar/resource_type/c_6501 | |||||
| タイプ | journal article | |||||
| その他のタイトル | ||||||
| その他のタイトル | A Method for Autonomous Locomotion of Mobile Robots | |||||
| 著者 |
小森谷, 清
× 小森谷, 清× 舘, 暲× 谷江, 和雄 |
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| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 106590 | |||||
| 姓名 | Komoriya, Kiyoshi | |||||
| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 106591 | |||||
| 姓名 | Tachi, Susumu | |||||
| 著者別名 | ||||||
| 識別子Scheme | WEKO | |||||
| 識別子 | 106592 | |||||
| 姓名 | Tanie, Kazuo | |||||
| 著者所属 | ||||||
| 著者所属 | 機械技術研究所 | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper presents a navigation method which enables a mobile robot to perform autonomous locomotion. And the feasibility of this method was demonstrated using experimental hardware, a prototype robot with ultrasonic sensors. This method uses simple shaped objects, such as poles and flat surfaces of walls selected from the environment, as landmarks and a map indicating the relations of these landmarks. The robot moves from a given point to another along a designed path using its own sensors. At each point it measures the position of natural objects selected as landmarks and corrects its path. The basic problems encountered in realizing this method are discussed. They are path design which connects two points in the environment, control of a mobile robot to move along its path, measurement of objects'positions using an ultrasonic sensor and correction of error from its designed path. A basic technique necessary to navigate a mobile robot is the ability to control it so that it follows a designed path accurately. Because of the lack of absolute position information, a mobile robot needs to get accurate position data from its surroundings. This method uses natural objects to gain such information. And it has the merits that it can reduce the equipment investment to the environment to supply position data and that it can simplify the object detection problem by giving information about objects. | |||||
| 書誌情報 |
日本ロボット学会誌 巻 2, 号 3, p. 222-231, 発行日 1984-06 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 02891824 | |||||
| 書誌レコードID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AN00141189 | |||||
| フォーマット | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | application/pdf | |||||
| 日本十進分類法 | ||||||
| 主題Scheme | NDC | |||||
| 主題 | 548.3 | |||||
| 出版者 | ||||||
| 出版者 | 日本ロボット学会 | |||||
