著者

土谷 圭央 高氏 秀則 花島 直彦

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.79, no.11, pp.1110-1116, 2013-11-05 (Released:2014-01-05)

参考文献数

14

被引用文献数

1 1

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This paper proposes a high-speed and high-accuracy matching method for 3-D dot cloud data, and a method of expanding the scope of the matching. The proposed algorithm is designed to reduce the matching cost of ICP (Iterative Closest Point) algorithm by reducing the number of data. When the number of the data is decreased, the accuracy of the matching tends to become lower. However, we change the dot cloud data varying in the reduction rate progressively as the matching process progresses, and perform the matching with high speed and high accuracy. In this research we propose two types of stage processing depending on the magnitude relationship between the number of online data and offline data. One is the movement point type where online data is larger than offline data, and the other is the reference point type. Moreover, we expand the scope of matching by changing the number of reference points for the search points. We name this k-nearest neighbor stage processing. Our proposed methods are combined in order to achieve high-speed and large scope matching, which result in two techniques; the movement point type k-nearest neighbor stage processing, and the reference point type k-nearest neighbor stage processing. We perform some experiments using real data measured by a laser ranger to verify the effectiveness of the proposed techniques.

著者

吉岡 秀敏 花島 直彦 疋田 弘光 山下 光久

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 部門大会/部門学術講演会資料

巻号頁・発行日

vol.34, pp.41, 2002

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柔軟構造物に有効な制御手法の1つであるコロケーテッドフィードバック制御は, システムの力学的性質を利用し高いロバスト性を実現することが可能である. しかし, その制御法の安定性は連続時間系において考えられたものであるため, 零次ホールダによる離散化で実装しようとした場合にフィードバックゲインの大きさによっては不安定になり得る. そこでその問題について考え, 安定にする手法として区間定数ホールダ, ゲイン調整フィルタの2つを1リンク柔軟ビームの回転位置制御に適用し, シミュレーションにより比較する.

著者

大谷 充人 花島 直彦 吉田 英樹

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.83, no.850, pp.16-00317-16-00317, 2017 (Released:2017-06-25)

参考文献数

24

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In this study, we discuss a problem to collect observation data with one mobile robot in extensive investigation field. When the measurement of observation data is carried out by the mobile robot, the setting of running-path and navigation are important for appropriate measurement. Usually reciprocating straight paths at even interval are employed to collect data with spatially uniform density. However it is possible that some area between the straight paths requires detailed measurement. The method proposed in this paper makes it possible that in ordinary situation the robot follows the straight path, in the proximity of the area with need of observation it leaves the straight path toward the area, after that returns to the preceding straight path. Recently the path-generating regulator (PGR) has been applied to a tracking problem along a straight passage for car-like robots. The PGR is a control method for a vehicle so as to orient its heading toward a tangent to one of the curves belonging to a family of path functions. In this paper, we append a property to the PGR tracking the straight passage to modify the target heading angle in accordance with necessity of observation and to realize the motion toward the area with need of observation. To confirm the efficiency of the proposed method, two types of simulations are performed. The first simulation shows how a level of necessity of observation and a range to the area changes the locus of the mobile robot. In the second simulation, the mobile robot is satisfactorily guided by the level of necessity of observation obtained from actual measured data in a survey site.