{"created":"2023-05-15T09:58:42.681329+00:00","id":2720,"links":{},"metadata":{"_buckets":{"deposit":"9f1c1a9f-e389-4566-9030-0b8dc0febad9"},"_deposit":{"created_by":5,"id":"2720","owner":"5","owners":[5],"pid":{"revision_id":0,"type":"depid","value":"2720"},"status":"published"},"_oai":{"id":"oai:miyazaki-u.repo.nii.ac.jp:00002720","sets":["73","73:36","73:36:330","73:36:330:323"]},"author_link":["6617","14221","13344","13347","14218"],"item_10002_alternative_title_1":{"attribute_name":"その他（別言語等）のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"RRT オ モチイタ ドウテキ カンキョウ ニオケル イドウ ロボット ノ リアル タイム ケイロ ケイカク","subitem_alternative_title_language":"ja-Kana"}]},"item_10002_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2013-08-30","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"256","bibliographicPageStart":"251","bibliographicVolumeNumber":"42","bibliographic_titles":[{"bibliographic_title":"宮崎大学工学部紀要","bibliographic_titleLang":"ja"},{"bibliographic_title":"Memoirs of Faculty of Engineering, University of Miyazaki","bibliographic_titleLang":"en"}]}]},"item_10002_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Recently, the application areas of mobile robots have been extended broadly, for instance, from home to planets. In such cases, it is important to ensure both safety and optimality for the movement of the robot. One approach to this problem is offline trajectory planning and reactive obstacle avoidance. The trajectory (path) planning plooblem has been studied by many researchers and several algorithms have been proposed. In the case of high-dimensional configuration space, it has been shown that the sampling-based algorithms such as RRT (Rapidly-Exploring Random Tree) are effective. The original algorithm has been extended such that the cost is taken into account (RRT*) or that the re-planning is done effectively (such as eRRT, dRRT, and MPRRT). However, many of existing studies about re-planning consider only the cases that the environment is static, or that the initial state of the robot does not change. Thus, they can not be applied to the environments where the obstacles is moving or the dynamics of the robot has uncertainties. In this article, the authors extend the existing RRT and its variants to be able to manage two cases; the continuous change of the environment and the change of the initial configuration of the robot. The effectiveness of the proposed approach is examined numerical simulations.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_10002_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宮崎大学工学部","subitem_publisher_language":"ja"},{"subitem_publisher":"Faculty of Engineering, University of Miyazaki","subitem_publisher_language":"en"}]},"item_10002_source_id_11":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA00732558","subitem_source_identifier_type":"NCID"}]},"item_10002_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"05404924","subitem_source_identifier_type":"ISSN"}]},"item_10002_version_type_20":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"松川, 翔太","creatorNameLang":"ja"},{"creatorName":"マツカワ, ショウタ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"14218","nameIdentifierScheme":"WEKO"}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[{"affiliationNameIdentifier":"0000000106573887","affiliationNameIdentifierScheme":"ISNI","affiliationNameIdentifierURI":"https://isni.org/isni/0000000106573887"}],"affiliationNames":[{"affiliationName":"宮崎大学","affiliationNameLang":"ja"},{"affiliationName":"University of Miyazaki","affiliationNameLang":"en"}]}],"creatorNames":[{"creatorName":"横道, 政裕","creatorNameLang":"ja"},{"creatorName":"ヨコミチ, マサヒロ","creatorNameLang":"ja-Kana"},{"creatorName":"Yokomichi, Masahiro","creatorNameLang":"en"}],"familyNames":[{"familyName":"横道","familyNameLang":"ja"},{"familyName":"ヨコミチ","familyNameLang":"ja-Kana"},{"familyName":"Yokomichi","familyNameLang":"en"}],"givenNames":[{"givenName":"政裕","givenNameLang":"ja"},{"givenName":"マサヒロ","givenNameLang":"ja-Kana"},{"givenName":"Masahiro","givenNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"6617","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"30274773","nameIdentifierScheme":"e-Rad_Researcher","nameIdentifierURI":"https://kaken.nii.ac.jp/ja/search/?qm=30274773"}]},{"creatorNames":[{"creatorName":"甲斐, 崇浩","creatorNameLang":"ja"},{"creatorName":"カイ, タカヒロ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"13344","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Matsukawa, Shota","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"14221","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Kai, Takahiro","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"13347","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-06-21"}],"displaytype":"detail","filename":"engineering251-256.pdf","filesize":[{"value":"748.1 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"engineering251-256.pdf","url":"https://miyazaki-u.repo.nii.ac.jp/record/2720/files/engineering251-256.pdf"},"version_id":"f6e103a9-6e0a-4eaf-8724-032d0aac588c"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"RRT, RRT*, eRRT, dRRT, CT-space","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"RRTを用いた動的環境における移動ロボットのリアルタイム経路計画","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"RRTを用いた動的環境における移動ロボットのリアルタイム経路計画","subitem_title_language":"ja"},{"subitem_title":"An Extension of RRT for Real-Time Path Re-planning of Mobile Robots in Dynamic Environment","subitem_title_language":"en"}]},"item_type_id":"10002","owner":"5","path":["73","36","330","323"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2014-01-06"},"publish_date":"2014-01-06","publish_status":"0","recid":"2720","relation_version_is_last":true,"title":["RRTを用いた動的環境における移動ロボットのリアルタイム経路計画"],"weko_creator_id":"5","weko_shared_id":2},"updated":"2024-12-26T07:19:42.654461+00:00"}