WEKO3
アイテム
Object Conveyance Algorithm for Multiple Mobile Robots based on Object Shape and Size
https://tokushima-u.repo.nii.ac.jp/records/2011385
https://tokushima-u.repo.nii.ac.jp/records/2011385a567c826-10f5-4204-b2d9-1b0d0cdd4fbe
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
ijacsa_7_5_553.pdf (1.38 MB)
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| アイテムタイプ | 文献 / Documents(1) | |||||||||||||||||||||||||
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| 公開日 | 2023-11-09 | |||||||||||||||||||||||||
| アクセス権 | ||||||||||||||||||||||||||
| アクセス権 | open access | |||||||||||||||||||||||||
| 資源タイプ | ||||||||||||||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||||||||||||||
| 資源タイプ | journal article | |||||||||||||||||||||||||
| 出版社版DOI | ||||||||||||||||||||||||||
| 関連識別子 | https://doi.org/10.14569/IJACSA.2016.070573 | |||||||||||||||||||||||||
| 関連名称 | 10.14569/IJACSA.2016.070573 | |||||||||||||||||||||||||
| 出版タイプ | ||||||||||||||||||||||||||
| 出版タイプ | VoR | |||||||||||||||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||||||||||||||
| タイトル | ||||||||||||||||||||||||||
| タイトル | Object Conveyance Algorithm for Multiple Mobile Robots based on Object Shape and Size | |||||||||||||||||||||||||
| 著者 |
Sejati, Purnomo
× Sejati, Purnomo
× 鈴木, 浩司× 北島, 孝弘
WEKO
644
× 桑原, 明伸
× 安野, 卓
WEKO
81
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| 抄録 | ||||||||||||||||||||||||||
| 内容記述 | This paper describes a determination method of a number of a team for multiple mobile robot object conveyance. The number of robot on multiple mobile robot systems is the factor of complexity on robots formation and motion control. In our previous research, we verified the use of the complex-valued neural network for controlling multiple mobile robots in object conveyance problem. Though it is a significant issue to develop effective determination team member for multiple mobile robot object conveyance, few studies have been done on it. Therefore, we propose an algorithm for determining the number of the team member on multiple mobile robot object conveyance with grasping push. The team member is determined based on object weight to obtain appropriate formation. First, the object shape and size measurement is carried out by a surveyor robot that approaches and surrounds the object. During surrounding the object, the surveyor robot measures its distance to the object and records for estimating the object shape and size. Since the object shape and size are estimated, the surveyor robot makes initial push position on the estimated push point and calls additional robots for cooperative push. The algorithm is validated in several computer simulations with varying object shape and size. As a result, the proposed algorithm is promising for minimizing the number of the robot on multiple mobile robot object conveyance. | |||||||||||||||||||||||||
| キーワード | ||||||||||||||||||||||||||
| 主題 | multiple mobile robots | |||||||||||||||||||||||||
| キーワード | ||||||||||||||||||||||||||
| 主題 | object conveyance | |||||||||||||||||||||||||
| キーワード | ||||||||||||||||||||||||||
| 主題 | team member determination | |||||||||||||||||||||||||
| 書誌情報 |
en : International Journal of Advanced Computer Science and Applications 巻 7, 号 5, p. 553-559, 発行日 2016-05 |
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| 収録物識別子タイプ | ISSN | |||||||||||||||||||||||||
| 収録物識別子 | 21565570 | |||||||||||||||||||||||||
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| 収録物識別子タイプ | ISSN | |||||||||||||||||||||||||
| 収録物識別子 | 2158107X | |||||||||||||||||||||||||
| 出版者 | ||||||||||||||||||||||||||
| 出版者 | The Science and Information Organization | |||||||||||||||||||||||||
| 権利情報 | ||||||||||||||||||||||||||
| 権利情報 | This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited. | |||||||||||||||||||||||||
| EID | ||||||||||||||||||||||||||
| 識別子 | 318946 | |||||||||||||||||||||||||
| 言語 | ||||||||||||||||||||||||||
| 言語 | eng | |||||||||||||||||||||||||
