測域センサを用いた全方向移動ロボットの障害物回避制御 Obstacle Avoidance Control on Omnidirectional Vehicle Robots Using Range Sensor

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Generally, intelligent vehicle robots are strongly needed in many fields. They are expected to assist our daily lives. In order to implement them in practice, we should mount useful functions including path planning, navigation, and obstacle avoidance, etc. on the robots. This paper focuses on obstacle avoidance control technique to multiple obstacles. The used vehicle as a platform is the mecanum wheel omnidirectional vehicle which is driven on floors and mounts a scanner range sensor. The presented algorithm has the feature that multiple obstacle avoidance control is simply come down to the mono-obstacle avoidance control scheme. Finally, the experimental results are shown in order to evaluate the presented algorithms.

収録刊行物

  • 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society  

    電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 128(6), 849-856, 2008-06-01 

    The Institute of Electrical Engineers of Japan

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各種コード

  • NII論文ID(NAID)
    10021134705
  • NII書誌ID(NCID)
    AN10012320
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    09136339
  • NDL 記事登録ID
    9532654
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-1608
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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