2 0 0 0 OA アーティキュレート式操舵車両による自動刈払ロボットの開発
- 著者
- 大川 真弥 滝田 好宏 伊達 央
- 出版者
- 一般社団法人 日本機械学会
- 雑誌
- 日本機械学会論文集 (ISSN:21879761)
- 巻号頁・発行日
- vol.80, no.812, pp.TRANS0076-TRANS0076, 2014 (Released:2014-04-25)
- 参考文献数
- 12
- 被引用文献数
- 1 3
This paper proposes a brush-cutting robot which can cut high weeds and grass automatically by hand-held brush-cutter sold in hardware store. The robot vehicle is constructed with a center articulated body, a manipulating mechanism of the brush-cutter, motor controller and sensors for self-localization. In order to get its own position continuously, two Laser Range Finders (LRF), a GPS campus and odometry encoder for each wheel are installed. Authors proposed Sensor Steering Mechanism (SSM) for the lateral guided vehicle with steering mechanism. This robot is applied SSM for the center articulated body to follow the way point line on the 2-D map. The map for self-localization is constructed with a 0.1m by 0.1m grid that is measured by the 3-D LRF. The experimental set up was developed and installed in the control program and then autonomous mowing was tested, leading to the results of running and mowing in the quadrangle of the No. 4 building of science and engineering at National Defense Academy. As a result, the proposed system achieved an error of 0.2m or less for the way point line following performance. The developed brush-cutting robot successfully completed the work without untreated area by providing an appropriate overlap by the result.
2 0 0 0 OA 地表面の反射輝度を活用した自律移動ロボットの高精度自己位置推定
- 著者
- 伊達 央 大川 真弥 滝田 好宏 菊地 惇
- 出版者
- 一般社団法人 日本機械学会
- 雑誌
- 日本機械学会論文集C編 (ISSN:18848354)
- 巻号頁・発行日
- vol.79, no.806, pp.3389-3398, 2013 (Released:2013-10-25)
- 参考文献数
- 11
- 被引用文献数
- 2 11
This paper presents the technique for improving the accuracy and reliability of an autonomous mobile robot localization. Localization based on 2D LIDAR is not always satisfactory due to occlusion. Use of 3D LIDAR improves the reliability by greater field of view. However, lack of 3D objects around the robot may result in poor matching between the observation and the 3D map. Even in this case, the different brightness of the ground surface helps localization. In this paper, we propose an efficient expression of 3D map by considering of LIDAR intensity. Experiment result shows successful localization in a trail through outdoor open grass fields.
1 0 0 0 OA モンテカルロ経済モデル予測制御による1ロータ宇宙機の太陽光発電量最大化
- 著者
- 竹崎 大輔 伊達 央
- 出版者
- 公益社団法人 計測自動制御学会
- 雑誌
- 計測自動制御学会論文集 (ISSN:04534654)
- 巻号頁・発行日
- vol.57, no.3, pp.195-202, 2021 (Released:2021-03-17)
- 参考文献数
- 17
In this study, assuming a case that two of the three reaction wheels mounted on the spacecraft failed, we examined a method of controlling the attitude with the remaining one reaction wheel. Since what can be done with one reaction wheel is limited, we propose an attitude control method for maximizing the amount of solar power generation using Monte Carlo economic model predictive control, and validated the effectiveness of the method by simulation. Extensive simulations were conducted to verify whether the proposed method is effective for various initial conditions, and it was confirmed that the power generation increased in most cases. Some examples of how the proposed control method behaved are shown and discussed.
- 著者
- 仲谷 真太朗 伊達 央
- 出版者
- 公益社団法人 計測自動制御学会
- 雑誌
- 計測自動制御学会論文集 (ISSN:04534654)
- 巻号頁・発行日
- vol.56, no.3, pp.116-123, 2020 (Released:2020-03-18)
- 参考文献数
- 15
- 被引用文献数
- 2
This paper describes the application of Monte Carlo model predictive control (MCMPC) to systems with collision phenomena. In general, a physical quantity related to velocity discontinuously changes at the moment of a collision. Gradient-based model predictive control that requires gradient information of the cost function can not handle the collision phenomena directly. On the other hand, MCMPC can calculate local optimal solutions and stationary solutions needed each time as far as the forward simulation is feasible. Therefore, we examined the problem of swing up and stabilizing the cart type inverted pendulum with the collision of the cart. If the controller can properly handle the discontinuity, faster swing-up may be realized by exploiting impact force caused by the collision of a cart within the evaluation function. In this paper, we show the result of simulations and real experiments, and report that we can realize speeding up of swing-up using collision.
1 0 0 0 OA 任意の屈曲位置を持つアーティキュレート式車両の軌道誘導SSMの設計
- 著者
- 滝田 好宏 ブイクワン ズン 伊達 央
- 出版者
- 一般社団法人 日本機械学会
- 雑誌
- 日本機械学会論文集C編 (ISSN:18848354)
- 巻号頁・発行日
- vol.77, no.781, pp.3278-3289, 2011 (Released:2011-09-25)
- 参考文献数
- 18
- 被引用文献数
- 1 1
This paper proposes SSM(Sensor Steering Mechanism) for a lateral guided vehicle with an articulated body which has an arbitrary position of articulation joint. The last paper shows the SSM for an articulated vehicle with a bending joint located at the center of its wheel base. The articulated robotic vehicle with SSM is demonstrated an accurate line following at low speed and a drift cornering at high speed moving. This paper discuses the SSM for the arbitrary position of articulated joint and the simple relation is derived for the lateral guided method for the articulated vehicle. In order to demonstrated the advantage of this method, an experimental vehicle is developed and tested on the evaluation course which is used previous papers. Dynamical simulations of experimental vehicle are preformed and the data is compared with the experimental data. These results demonstrate that a SSM for articulated vehicles achieve at high speeds and maintain stability on a test course.
1 0 0 0 OA カメラ固定によるアーティキュレート式車両の軌道誘導SSMの実現と高速化
- 著者
- 滝田 好宏 伊達 央 大川 真弥
- 出版者
- 一般社団法人 日本機械学会
- 雑誌
- 日本機械学会論文集 (ISSN:21879761)
- 巻号頁・発行日
- vol.80, no.812, pp.TRANS0069-TRANS0069, 2014 (Released:2014-04-25)
- 参考文献数
- 19
This paper proposes SSM (Sensor Steering Mechanism) for a lateral guided vehicle with an articulated body. Authors demonstrated the simple lateral guiding method SSM for the front wheel steer type, the reverse phase four-wheel steer type and the rear wheel steer type vehicle. SSM presents the stable lateral guiding performance for automated vehicle which follows a straight and curved path created by guideway. This paper proposes a simplified SSM to remove the following servo system for the camera rotation. The simplified SSM is applied to 1/25 scaled articulated dump truck which is developed by the previous paper. The stability of the simplified SSM is discussed. Experimental and simulation results show the stable moving and the performance of proposed method.