2A2-E09 屋外環境下で用いる自律移動システムに関する研究 : 第56報 低周波数無線による通信遅延を考慮した屋外遠隔運転

• 安岡 洋一

  早大

• 西岡 甲太郎

  早大

• 鈴木 太郎

  早大

• 天野 嘉春

  早大

• 橋詰 匠

  早大

書誌事項

タイトル別名

• 2A2-E09 A Study of Autonomous Mobile System in Outdoor Environment : Part56 Tele-operation System with High Transmission Delay for an Outdoor Mobile Robot

抄録

Our research developed a novel teleoperation system for an UGV (unmanned ground vehicle) using a low-bandwidth communication. In this system, the 3D environmental map measured by mobile mapping System is used for the remote control interface. The low-bandwidth and high-delay transmission links cause a serious problem for the vehicle control. To solve this problem, the time synchronization by two GPS receivers is proposed in this paper. The transmit delay time can be measured by two GPS receivers, and the current position and attitude of the UGV can be estimated from the delay time. The result of the field experiment showed that the proposed system was easy to grasp the remote environment for teleoperation.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2010 (0), _2A2-E09_1-_2A2-E09_3, 2010

  一般社団法人 日本機械学会

キーワード

• Unmanned Ground Vehicle
• Tele-operation
• 3D map
• GPS
• Transmission Delay

詳細情報

• CRID: 1390001205934783744
• NII論文ID: 110008741972
• DOI: 10.1299/jsmermd.2010._2a2-e09_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2010/0/2010__2A2-E09_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可