自己経路決定法による自動搬送(4部 ロボット)
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概要
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This paper describes a newly developed method for the automatic traveling of a vehicle. In the methodology of measuring a postural angle of the vehicle, two kinds of parameters of feature extraction are adopted, and these are obtained by the projection of marks which are attached on the surface of road along the route. One is the angle detection value which is calculated by the ratio of Ax to Ap. The Ax represents the maximum width of the projective pattern in the direction of the X axis. The Ap represents the distance between the point on the X axis at which the projective pattern has the largest height in the direction of the Y axis and the smallest value of the projection on the X axis. Another is the pattern-classification value which is calculated by the ratio of the area Aa and the product of the largest width Ax multiplied by the largest height Ay of the projective pattern. The vehicle system can travel from a starting position to a desired destination by applying the proposed method. The route is automatically selected by the system. The route selection is executed by the consideration of three kinds of estimative functions. The first is the distance between a temporary place at an intersection and the destination. The second is a freedom at an intersection. The third is priority, which shows straight, left turn and right turn at an intersection. For a vehicle to start from a starting position and reach a desired destination, 11 kinds of control modes and 16 kinds of marks are considered. Each mark has a different shape and posesses characterized travel functions. The self-decision making capability of the method is compared with that of the human obtained from some examples of the experiments, and the results show characteristics similar to the human capability. The algorithms are written by FORTRAN LANGUAGE occupied about 8K words. The decision making time at each intersection is about 0.1 second and is available in on-line processing.
- バイオメカニズム学会の論文
- 1982-08-30
著者
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