操舵角度の可動範囲と連続性を陽に考慮した車輪型移動ロボットのモデル予測軌道追従制御
Saved in:
| Published in | 日本機械学会論文集 Vol. 81; no. 825; p. 14-00484 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | Japanese |
| Published |
一般社団法人 日本機械学会
2015
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 2187-9761 |
| DOI | 10.1299/transjsme.14-00484 |
Cover
| Author | 野中, 謙一郎 萩森, 夕紀 高橋, 直樹 |
|---|---|
| Author_xml | – sequence: 1 fullname: 野中, 謙一郎 organization: 東京都市大学工学部機械システム工学科 – sequence: 1 fullname: 萩森, 夕紀 organization: 東京都市大学大学院工学研究科機械システム工学専攻 – sequence: 1 fullname: 高橋, 直樹 organization: 東京都市大学大学院工学研究科機械システム工学専攻 |
| BookMark | eNo9kNtKAkEAhocoyMwX6B3WdvbgzF6GdETopq6XcXe2FLXY9Sa6cZuiJYtAiehAUUFGlkKQhKY9zLTr-hbZgeCH7-b_v4t_AowWNgoUgCkoxqGkadNFmxScrJOncagIoqhgZQREJIiRoKEEHAcxx8mkRTkhqVhGagRsB9Wj0HsNaxW_fc_dhn_c9Msn_eauf_HC3YdB6a7fOg9KNb5TGZx1uVsPSyzYa3D3lLvXYecgfH_0r8r9Wme44uyZs0vOGGfeUMXZLWf7nNU_217w9hR2DgduNfzo-r2q77X83s0kGLNIzqGxP0bB6tzsSnJBSC3PLyZnUkJWkhVRkKGsmhrSqGUQopgJEyFsWpaiWRIdhhKRpE1IMRJNBDVEiaQQw8QIJyRNpIYpR8HSrzfrFMka1TftTJ7YWzqxixkjR_X_z3QMdSyp34CK_vPef8lYJ7aeJfIXAamcdA |
| ContentType | Journal Article |
| Copyright | 2015 一般社団法人日本機械学会 |
| Copyright_xml | – notice: 2015 一般社団法人日本機械学会 |
| DOI | 10.1299/transjsme.14-00484 |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 2187-9761 |
| EndPage | 14-00484 |
| ExternalDocumentID | article_transjsme_81_825_81_14_00484_article_char_ja |
| GroupedDBID | ALMA_UNASSIGNED_HOLDINGS GROUPED_DOAJ JSF KQ8 RJT |
| ID | FETCH-LOGICAL-j2340-3135d979efcaa4d6d778dff49f2ef2eea0abd1e870d7197ea24acd8786290ecd3 |
| IngestDate | Wed Sep 03 06:25:04 EDT 2025 |
| IsDoiOpenAccess | true |
| IsOpenAccess | true |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 825 |
| Language | Japanese |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-j2340-3135d979efcaa4d6d778dff49f2ef2eea0abd1e870d7197ea24acd8786290ecd3 |
| OpenAccessLink | https://www.jstage.jst.go.jp/article/transjsme/81/825/81_14-00484/_article/-char/ja |
| ParticipantIDs | jstage_primary_article_transjsme_81_825_81_14_00484_article_char_ja |
| PublicationCentury | 2000 |
| PublicationDate | 2015 |
| PublicationDateYYYYMMDD | 2015-01-01 |
| PublicationDate_xml | – year: 2015 text: 2015 |
| PublicationDecade | 2010 |
| PublicationTitle | 日本機械学会論文集 |
| PublicationYear | 2015 |
| Publisher | 一般社団法人 日本機械学会 |
| Publisher_xml | – name: 一般社団法人 日本機械学会 |
| References | Connette, C. P., Pott, A., Hägele, M. and Verl, A., Control of an pseudo-omnidirectional, non-holonomic, mobile robot based on an ICM representation in spherical coordinates, Proceedings of the 47th IEEE Conference on Decision and Control (2008), pp. 4976-4983. Iida, K., Mori, T. and Yasuno, T., Fuzzy control for omni-directional vehicle with ball wheels, IEEJ Transactions on Electronics, Information and Systems, Vol.129, No.11 (2009), pp.2019-2026. Hiromachi, Y., Nonaka, K. and Sekiguchi, K., EKF localization with variable covariance for LRS and odometry:experimental verification, Proceedings of the 13th International Workshop on Advanced Motion Control (2014), pp.231-236. Kelley, C. T., Frontiers in applied mathematics: Iterative Methods for Linear and Nonlinear Equations, Vol. 16 (1995), Society for Industrial and Applied Mathematics. Connette, C., Hägele, M. and Verl, A., Singularity-free state-space representation for non-holonomic, omnidirectional undercarriages by means of coodinate switching, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (2012), pp. 4959-4965. Selekwa, M.F. and Nistler, J.R., Path tracking control of four wheel independently steered ground robotic vehicles, Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (2011), pp.6355-6360. Takahashi, T., Yokota, T., Wang, Z., Mori, Y. and Nakano, E., Mechanism and control of a reconfigurable footprint omni-directional vehicle, Journal of the Robotics Society of Japan, Vol.19, No.5 (2001), pp.638-645 (in Japanese). Nonaka, K. and Watanabe, Y., Velocity estimation for mobile robots using caster odometer and nonlinear observer, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.78, No.791 (2012), pp.2509-2525 (in Japanese). Wada, M., The state of the art in research and development for omnidirectional and holonomic mobile robots, Journal of the Institute of Systems, Control and Information (Systems, Control and Information), Vol.47, No.9 (2003), pp.439-444 (in Japanese). Asama, H., Sato, M., Kaetsu, H., Ozaki, K., Matsumoto, A. and Endo, I., Development of an omni-directional mobile robot with 3 dof decoupling drive mechanism, Journal of the Robotics Society of Japan, Vol.14, No.2 (1996), pp.249-254 (in Japanese). Fujisawa, S., Ohkubo, K., Shidama, Y. and Yamaura, H., Kinematics and moving properties of a four-wheel-drive, omnidirectional mobile robot, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.62, No.604 (1996), pp.4573-4579 (in Japanese). Hagimori, Y., Nonaka, K. and Sekiguchi, K., Model predictive steering control for coaxial steering mechanism under constraints, Proceedings of the SICE Annual Conference 2014 (2014), pp.646-649. Kanjanawanishkul, K. and Zell, A., Path following for an omnidirectional mobile robot based on model predictive control, Proceedings of the 2009 IEEE International Conference on Robotics and Automation (2009), pp.3341-3346. Mori, Y., Nakano, E. and Takahashi, T., Basic principle of an omni-directional vehicle ”ODV9” and its ability to get over a small step, Journal of the Robotics Society of Japan, Vol.18, No.1 (2000), pp.150-157 (in Japanese). Ohtsuka, T., A continuation/GMRES method for fast computation of nonlinear receding horizon control, Automatica, Vol. 40, Issue 4 (2001), pp. 563-574. Takahashi, N. and Nonaka, K., Model predictive obstacle avoidance control for mobile robots with alleviation of local stationary points, Proceedings of the Dynamics and Design Conference 2012 (2012), p.359 (in Japanese). Connette, C. P., Hofmeister, S., Bubeck, A., Hägele, M. and Verl, A., Model-predictive undercarriage control for a pseudo-omnidirectional, wheeled mobile robot, Proceedings of the joint conference of the 41st International Symposium on Robotics and the 6th German Conference on Robotics (2010), pp. 1178-1183. Nishikawa, A., West, M. and Asada, H., Development of a holonomic omnidirectional vehicle and an accurate guidance method of the vehicles, Journal of the Robotics Society of Japan, Vol.13, No.2 (1995), pp.249-256 (in Japanese). |
| References_xml | – reference: Connette, C. P., Pott, A., Hägele, M. and Verl, A., Control of an pseudo-omnidirectional, non-holonomic, mobile robot based on an ICM representation in spherical coordinates, Proceedings of the 47th IEEE Conference on Decision and Control (2008), pp. 4976-4983. – reference: Hiromachi, Y., Nonaka, K. and Sekiguchi, K., EKF localization with variable covariance for LRS and odometry:experimental verification, Proceedings of the 13th International Workshop on Advanced Motion Control (2014), pp.231-236. – reference: Mori, Y., Nakano, E. and Takahashi, T., Basic principle of an omni-directional vehicle ”ODV9” and its ability to get over a small step, Journal of the Robotics Society of Japan, Vol.18, No.1 (2000), pp.150-157 (in Japanese). – reference: Iida, K., Mori, T. and Yasuno, T., Fuzzy control for omni-directional vehicle with ball wheels, IEEJ Transactions on Electronics, Information and Systems, Vol.129, No.11 (2009), pp.2019-2026. – reference: Nishikawa, A., West, M. and Asada, H., Development of a holonomic omnidirectional vehicle and an accurate guidance method of the vehicles, Journal of the Robotics Society of Japan, Vol.13, No.2 (1995), pp.249-256 (in Japanese). – reference: Selekwa, M.F. and Nistler, J.R., Path tracking control of four wheel independently steered ground robotic vehicles, Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (2011), pp.6355-6360. – reference: Takahashi, T., Yokota, T., Wang, Z., Mori, Y. and Nakano, E., Mechanism and control of a reconfigurable footprint omni-directional vehicle, Journal of the Robotics Society of Japan, Vol.19, No.5 (2001), pp.638-645 (in Japanese). – reference: Nonaka, K. and Watanabe, Y., Velocity estimation for mobile robots using caster odometer and nonlinear observer, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.78, No.791 (2012), pp.2509-2525 (in Japanese). – reference: Connette, C. P., Hofmeister, S., Bubeck, A., Hägele, M. and Verl, A., Model-predictive undercarriage control for a pseudo-omnidirectional, wheeled mobile robot, Proceedings of the joint conference of the 41st International Symposium on Robotics and the 6th German Conference on Robotics (2010), pp. 1178-1183. – reference: Fujisawa, S., Ohkubo, K., Shidama, Y. and Yamaura, H., Kinematics and moving properties of a four-wheel-drive, omnidirectional mobile robot, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.62, No.604 (1996), pp.4573-4579 (in Japanese). – reference: Hagimori, Y., Nonaka, K. and Sekiguchi, K., Model predictive steering control for coaxial steering mechanism under constraints, Proceedings of the SICE Annual Conference 2014 (2014), pp.646-649. – reference: Wada, M., The state of the art in research and development for omnidirectional and holonomic mobile robots, Journal of the Institute of Systems, Control and Information (Systems, Control and Information), Vol.47, No.9 (2003), pp.439-444 (in Japanese). – reference: Ohtsuka, T., A continuation/GMRES method for fast computation of nonlinear receding horizon control, Automatica, Vol. 40, Issue 4 (2001), pp. 563-574. – reference: Takahashi, N. and Nonaka, K., Model predictive obstacle avoidance control for mobile robots with alleviation of local stationary points, Proceedings of the Dynamics and Design Conference 2012 (2012), p.359 (in Japanese). – reference: Asama, H., Sato, M., Kaetsu, H., Ozaki, K., Matsumoto, A. and Endo, I., Development of an omni-directional mobile robot with 3 dof decoupling drive mechanism, Journal of the Robotics Society of Japan, Vol.14, No.2 (1996), pp.249-254 (in Japanese). – reference: Kanjanawanishkul, K. and Zell, A., Path following for an omnidirectional mobile robot based on model predictive control, Proceedings of the 2009 IEEE International Conference on Robotics and Automation (2009), pp.3341-3346. – reference: Kelley, C. T., Frontiers in applied mathematics: Iterative Methods for Linear and Nonlinear Equations, Vol. 16 (1995), Society for Industrial and Applied Mathematics. – reference: Connette, C., Hägele, M. and Verl, A., Singularity-free state-space representation for non-holonomic, omnidirectional undercarriages by means of coodinate switching, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (2012), pp. 4959-4965. |
| SSID | ssib036258375 ssib016970096 ssib051641555 ssj0002911760 |
| Score | 2.0074275 |
| SourceID | jstage |
| SourceType | Publisher |
| StartPage | 14-00484 |
| SubjectTerms | Four-wheel steering vehicle Limited steering range Model predictive control Motion control Optimal control Singularity avoidance Wheeled mobile robots |
| Title | 操舵角度の可動範囲と連続性を陽に考慮した車輪型移動ロボットのモデル予測軌道追従制御 |
| URI | https://www.jstage.jst.go.jp/article/transjsme/81/825/81_14-00484/_article/-char/ja |
| Volume | 81 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| ispartofPNX | 日本機械学会論文集, 2015, Vol.81(825), pp.14-00484-14-00484 |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV1ba9RAFA6lvuiDeMU7fXCeZDWXyVwek22WItSnFvoWspvsw4IXtH1RkK6puHhBsIh4QVHBivUCgiLWy4-J227_heecJNuIPmgRluTk5Jw535wzs3NmyCSGcVTCGO6oyKzFsXZqMN_gNR0JXWu2XZ3EvCUTBzcKT54SE9P85Iw7MzK6UHlqaW62ebx18Y_7SjYTVeBBXHGX7D9EdlgoMICG-MIRIgzHv4oxCwTTDlPjLFBMKea7SHiSaZsFLvM95gkWgIDFvAA5qsG8BhE-0yAs8VJx5Gif-XYprFig8RkIz0EZH6x4aAs5kmRsMqGZ1swfL7V8gmEy5ZCwS0bplpYl0UAZ32fKI6LOPI-sBwgJ8Ui8u4HQwdK88YLQ9YJAEzmhKhXMhe3yliw5UCBHb6CwYD64qF7CqFNNLXQjchpUHXBdQByXvCoKjmdVU3lyPgB2iahTmYJ5muooEIZvoiKAxyhwrKymWgMeLUhLEEiNzlfDJVJCJJkKSElhAdAPSLGODs-54GeUgwoGG4qKaRMhoH0HXUKKgIEX4fZh6mBWDSEWVQAHl5O8pMbAiQvV19WVoXxXLPXiChBqfegAiab8oGhQHjUE3yHjFAHfO7Y5v-WJBI1YkC7KGuS3VnV4zb_IU_yNKNutjJYWr-EIwivZV5X12-gOqRN0yVlM4joXTifHf9X_5a3pRZ8Mh8KhskKwjieLh6QWlkK4wTHswCxriy2FwO-gTF4OylHJElriRL-8hozPVc5G0u1aApNyd7iya0P-IIVZ7NADzCd-Rwz5bgdmf-WTo5TMTu0wthez0DEvR7bTGOlEu4xtlXeT7jYurS7eGvQ-DJbu9D-_yLpv-7ff9W_cXXu30H_4Puu-XJ9_vvbxwer8Unblzvr9r1l3eTCfrl59m3XvZd0ng5Xrgy-v-o9vrC2tgFaWvsnSR1maZmkPisrSZ1l6LUuXf3zurX56PVi5ud5dHHz_2v-22O997H97useYbgRT9Yla8aWWWsd2OCZyjhtrqZN2K4p4LGIpVdxuc922E_glkRk1YyuB3CCWlpZJZPOoFSuphK3NpBU7e43RM2fPJPuMMR5ZkC63ZWzFgtstmE7huRmLtmmLiJv7jXruufBc_jqecDOhPvBfSjlobMV-l6_IHjJGZ8_PJYdhjjLbPEJN6Ce3Zg9h |
| linkProvider | ISSN International Centre |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=%E6%93%8D%E8%88%B5%E8%A7%92%E5%BA%A6%E3%81%AE%E5%8F%AF%E5%8B%95%E7%AF%84%E5%9B%B2%E3%81%A8%E9%80%A3%E7%B6%9A%E6%80%A7%E3%82%92%E9%99%BD%E3%81%AB%E8%80%83%E6%85%AE%E3%81%97%E3%81%9F%E8%BB%8A%E8%BC%AA%E5%9E%8B%E7%A7%BB%E5%8B%95%E3%83%AD%E3%83%9C%E3%83%83%E3%83%88%E3%81%AE%E3%83%A2%E3%83%87%E3%83%AB%E4%BA%88%E6%B8%AC%E8%BB%8C%E9%81%93%E8%BF%BD%E5%BE%93%E5%88%B6%E5%BE%A1&rft.jtitle=%E6%97%A5%E6%9C%AC%E6%A9%9F%E6%A2%B0%E5%AD%A6%E4%BC%9A%E8%AB%96%E6%96%87%E9%9B%86&rft.au=%E9%87%8E%E4%B8%AD%2C+%E8%AC%99%E4%B8%80%E9%83%8E&rft.au=%E8%90%A9%E6%A3%AE%2C+%E5%A4%95%E7%B4%80&rft.au=%E9%AB%98%E6%A9%8B%2C+%E7%9B%B4%E6%A8%B9&rft.date=2015&rft.pub=%E4%B8%80%E8%88%AC%E7%A4%BE%E5%9B%A3%E6%B3%95%E4%BA%BA+%E6%97%A5%E6%9C%AC%E6%A9%9F%E6%A2%B0%E5%AD%A6%E4%BC%9A&rft.eissn=2187-9761&rft.volume=81&rft.issue=825&rft.spage=14-00484&rft.epage=14-00484&rft_id=info:doi/10.1299%2Ftransjsme.14-00484&rft.externalDocID=article_transjsme_81_825_81_14_00484_article_char_ja |