1A1-P17 iGPSを用いた無人搬送車の移動制御 : 第4報:旋回コストと時間距離を考慮した障害物回避法の提案(作業移動ロボット)

• 仲本 慎平

  関西学院大

• 中後 大輔

  関西学院大

• 横田 祥

  摂南大

• 高瀬 國克

  電気通信大

書誌事項

タイトル別名

• 1A1-P17 Development of AGV navigation system using iGPS : 4th report: Proposal of the obstacle avoidance in consideration of turning cost and time distance(Mobile Manipulation Robot)

抄録

In our current research, we are developing a practical mobile vehicle navigation system which is capable of controlling multiple vehicles on the general environment. In order to realize the practical use, navigation system should have obstacle avoidance function. Therefore, in this paper, we propose the vehicle navigation system with a suitable path which avoids the obstacle automatically. Our proposed path generating scheme for the obstacle avoidance considers not only its mileage but also the times and angular of its turning. Using our scheme, the AVG can follow the reference path and can avoid the obstacles with minimum cost. The performance of our proposed control system is experimented with our prototype.

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 2013 (0), _1A1-P17_1-_1A1-P17_3, 2013

  一般社団法人 日本機械学会

キーワード

• Obstacle avoidance
• Automated transportation
• iGPS

詳細情報

• CRID: 1390282680914567680
• NII論文ID: 110009962862
• DOI: 10.1299/jsmermd.2013._1a1-p17_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2013/0/2013__1A1-P17_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