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仮想平面を利用した飛行ロボット操作システムの提案と評価
http://hdl.handle.net/2261/56129
b7dc2a88-91e2-4a76-8b2e-4b531c955da2
| 名前 / ファイル | ライセンス | アクション | |
|---|---|---|---|
37126940.pdf (14.6 MB)
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| Item type | 学位論文 / Thesis or Dissertation(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2014-11-11 | |||||
| タイトル | ||||||
| タイトル | 仮想平面を利用した飛行ロボット操作システムの提案と評価 | |||||
| 言語 | ||||||
| 言語 | jpn | |||||
| 資源タイプ | ||||||
| 資源 | http://purl.org/coar/resource_type/c_46ec | |||||
| タイプ | thesis | |||||
| その他のタイトル | ||||||
| その他のタイトル | Proposal and Evaluation of Flying Robot Manipulation System Using a Virtual Plane | |||||
| 著者 |
米澤, 和也
× 米澤, 和也 |
|||||
| 著者所属 | ||||||
| 東京大学大学院工学系研究科電気系工学専攻 | ||||||
| 著者所属 | ||||||
| Department of Electrical Engineering and Information Systems, Graduate School of Engineering, The University of Tokyo | ||||||
| Abstract | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | AR.Drone のような飛行ロボットが容易に入手でき，人々にとって身近な存在となっている．しかし，ロボットを任意の位置へ自由に操作することは容易ではなく，特に飛行ロボットは平面のみを移動するロボットと比較しても操作はより困難である．そこで，飛行物体に重畳表示した仮想平面を用いた飛行物体の操作手法を提案し，プロトタイプの開発を行った．提案手法では，仮想平面上に移動ルートを描くと，そのルートを飛行物体が移動する．ジョイスティックやラジコン操縦無線機のようなコントローラと比較して，レバーやボタンなどを用いた複数の操作を同時に行う必要がなく，飛行物体の向きと操作者の視点を考慮する必要もないため，提案手法では操作の簡易性と直感的な操作性が期待できる．本論文では開発したプロトタイプの操作性が，既存のジョイスティックコントローラと比較して優れているか調査を行った．被験者実験によって，ユーザと飛行ロボットの方向関係によらない，直感的かつ簡易な操作であることが示された．またジョイスティックコントローラでは同時に複数の操作を必要とする，前後左右上下2 軸以上の移動を行う際，提案手法の操作は特に優位である結果が得られた．実験を踏まえ，提案手法の特徴を検討し，今後解決すべき課題を考察した． | |||||
| Abstract | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | People can get flying robots such as the AR.Drone easily, so robots became familiar with the public. However, it is more difficult for a novice to move positions of flying robots freely than those of robots which move on a plane. In this paper, I propose the flying robot manipulation using a virtual plane by augmented reality. For example, after an operator drew the line on the plane, the robot moves along it. My method enables easier and more intuitive manipulation than methods using controllers such as joysticks or proportional radio control systems, because my method do not involve a complex handling and need not to consider the directions of the robot and the operator. Moreover, I developed the prototype and investigated whether the operativity of it is excellent as compared with a joystick controller. Experiment results showed that the proposed method is not dependent on the directions of the user and the flying robot, and it is the intuitive and simple operation. In addition, it was shown that operation of the proposed method is excellent when the flying robot performs movement of 2 axes or more which needs two or more operations simultaneously by a joystick controller. Based on the experiment results, I considered the features of the proposed method and discussed issues. | |||||
| 書誌情報 | 発行日 2014-09-26 | |||||
| 学位名 | ||||||
| 学位名 | 修士(工学) | |||||
| 学位 | ||||||
| 値 | master | |||||
| 研究科・専攻 | ||||||
| 工学系研究科・電気系工学専攻 | ||||||
| 学位授与年月日 | ||||||
| 学位授与年月日 | 2014-09-26 | |||||
