2台の車両型移動ロボットから構成される協調搬送システムのベジェ曲線による経路計画

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Published in日本機械学会論文集 C編 Vol. 70; no. 691; pp. 774 - 781
Main Authors 山口, 博明, 新井, 民夫
Format Journal Article
LanguageJapanese
Published 一般社団法人 日本機械学会 2004
Online AccessGet full text
ISSN0387-5024
1884-8354
DOI10.1299/kikaic.70.774

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Author 新井, 民夫
山口, 博明
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References (1) S. Monaco and D. Normand-Cyrot, An introduction to motion planning under multirate digital control, “Proceeding of the 1992 IEEE Conference on Decision and Control, ” 1992, pp.1780-1785.
(2) D. M. Tilbury, R. M. Murray and S. S. Sastry, Trajectory generation for the n-trailer problem using Goursat normal form, “IEEE Transactions on Automatic Control, ” vol.40, no.5, 1995, pp.802-819.
(4) F. Lamiraux, S. Sekhavat, and J. P. Laumond, Motion planning and control for Hilare pulling a trailer, “IEEE Transactions on Robotics and Automation, ” vol.15, no.4, 1999, pp.640-652.
(5) 山口博明, 新井民夫, 2台の車両型移動ロボットから構成される協調搬送システムの経路追従フィードバック制御法, “計測自動制御学会論文集”, vol.39, no.6, 2003, pp.575-584.
(3) S. Sekhavat and J. P. Laumond, Topological property for collision-free nonholonomic motion planning : the case of sinusoidal inputs for chained form systems, “IEEE Transactions on Robotics and Automation, ” vol.14, no.5, 1998, pp.671-680.
(6) A. Ishidori, Nonlinear control systems, “New York : Springer-Verlag, ” Second Edition, 1989.
References_xml – reference: (5) 山口博明, 新井民夫, 2台の車両型移動ロボットから構成される協調搬送システムの経路追従フィードバック制御法, “計測自動制御学会論文集”, vol.39, no.6, 2003, pp.575-584.
– reference: (1) S. Monaco and D. Normand-Cyrot, An introduction to motion planning under multirate digital control, “Proceeding of the 1992 IEEE Conference on Decision and Control, ” 1992, pp.1780-1785.
– reference: (2) D. M. Tilbury, R. M. Murray and S. S. Sastry, Trajectory generation for the n-trailer problem using Goursat normal form, “IEEE Transactions on Automatic Control, ” vol.40, no.5, 1995, pp.802-819.
– reference: (4) F. Lamiraux, S. Sekhavat, and J. P. Laumond, Motion planning and control for Hilare pulling a trailer, “IEEE Transactions on Robotics and Automation, ” vol.15, no.4, 1999, pp.640-652.
– reference: (6) A. Ishidori, Nonlinear control systems, “New York : Springer-Verlag, ” Second Edition, 1989.
– reference: (3) S. Sekhavat and J. P. Laumond, Topological property for collision-free nonholonomic motion planning : the case of sinusoidal inputs for chained form systems, “IEEE Transactions on Robotics and Automation, ” vol.14, no.5, 1998, pp.671-680.
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Title 2台の車両型移動ロボットから構成される協調搬送システムのベジェ曲線による経路計画
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