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

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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.

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

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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.

著者

滝田 好宏

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.38, no.9, pp.789-792, 2020 (Released:2020-11-21)

参考文献数

9

著者

滝田 好宏 樫谷 賢士

出版者

一般社団法人 日本機械学会

雑誌

Dynamics & Design Conference 2016 (ISSN:24242993)

巻号頁・発行日

pp.431, 2016 (Released:2017-06-19)

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This paper investigates a VTOL UAV with tailless wing configuration. In the previous our work for multi-rotor UAV, a trirotor geometry with four rotors was built and experimented flight in the laboratory. VTOL type UAV enables the flight without take-off and landing spaces. So, there many researches for VTOL type UAVs, but the effective configuration of wing and electric propulsion unit is not discovered. This paper proposes a tailless wing configuration combined with the trirotor geometry for VTOL UAV. The Tailless wing airplane has advantage of low friction force, simple structure and lighter than the normal airplane with same wing area. The disadvantage of tailless wing type is that low stability in pitch and yaw motions. In order to overcome these problems, a stable airfoil with low moment coefficient is used and designed the configuration the wing. The experimental model of tailless wing for VTOL UAV is built and experimented flight in the field. Experimental results show the maneuver of designed tailless wing UAV.

著者

和崎 克己 下井 信浩 滝田 好宏

出版者

一般社団法人 画像電子学会

雑誌

画像電子学会研究会講演予稿 画像電子学会第196回研究会講演予稿 (ISSN:02853957)

巻号頁・発行日

pp.3, 2002 (Released:2003-05-27)

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本論文は、IRカメラを使用した、遠隔からの埋設地雷及び散布地雷の探知について述べたものである。このため、時間差分のIR画像を用いた、並列画像処理による対象物検出方法について提案する。対人地雷を探知するためには努めて遠隔から探知することが望ましい。埋設されている対人地雷の場合には、埋設地雷と地中の温度差が十分あれば放射熱の違いにより探知することが可能である。地域に冷水を散布して地表面を冷却させ、赤外線カメラによって測定する. このとき、土と埋設物(地雷)の放射熱の違いと、その冷却速度の差により、時間差分画像を得る。各画像はLinuxプラットフォーム上に実装された画像処理プログラムにより、実時間かつパイプライン的に処理される。

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

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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.

著者

滝田 好宏

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.630, pp.622-629, 1999-02-25

被引用文献数

12

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This paper proposes a simple relation of the lateral guidance mechanism for automatic guided vehicles and Dual Mode Trucks, and named it SSM (Sensor Steering Mechanism). SSM consists of a guide bar and deceleration gear which reduces the bar angle to one-second. In order to demonstrate the effectiveness of this relation, this paper examines the stability of the dynamic behavior of the front wheel steering of the vehicle. These results show that there is no Iimitation of the moving speed unless without a slip of the tire. For the test, a self-standing mobile robot, reduced to a scale of one twentieth of the real car, is developed. Experimental results show that high-speed automatic moving is realized by using this relation.

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

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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.

著者

滝田 好宏 伊達 央

出版者

防衛大学校

雑誌

基盤研究(C)

巻号頁・発行日

2010

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本研究では,ホームセンタで安価に購入できる刈払機をロボット車体に搭載することで,比較的長く伸びた草を刈り倒すことができる自律型刈払ロボットを提案して試作を行った.ロボットの移動機構は車体中央で屈曲するアーティキュレート式とし,100kg搭載可能で30.3kg の車体重量となった.刈り残しがない軌道計画と誘導および安全な刈払を行うために,自律制御プログラムの開発をつくばチャレンジに参加して行った.今後は,本ロボットの実証実験を行っていく.