{"created":"2025-01-19T01:11:41.525894+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00210472","sets":["1164:1579:10482:10561"]},"path":["10561"],"owner":"44499","recid":"210472","title":["IoT仮想環境「箱庭」による自律移動ロボットの制御パラメータの自動探索手法"],"pubdate":{"attribute_name":"公開日","attribute_value":"2021-03-18"},"_buckets":{"deposit":"47ca11a1-995f-4257-b138-ac95ca9cd131"},"_deposit":{"id":"210472","pid":{"type":"depid","value":"210472","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"IoT仮想環境「箱庭」による自律移動ロボットの制御パラメータの自動探索手法","author_link":["532926","532927","532928","532929"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"IoT仮想環境「箱庭」による自律移動ロボットの制御パラメータの自動探索手法"},{"subitem_title":"A searching method for control parameters of the autonomous mobile robot using the IoT virtual environment “Hakoniwa”","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボット・セキュリティ","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2021-03-18","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"京都大学"},{"subitem_text_value":"インテック"},{"subitem_text_value":"永和システムマネジメント"},{"subitem_text_value":"京都大学／JSTさきがけ"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/210472/files/IPSJ-ARC21244023.pdf","label":"IPSJ-ARC21244023.pdf"},"date":[{"dateType":"Available","dateValue":"2023-03-18"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ARC21244023.pdf","filesize":[{"value":"1.7 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"16"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"01cb8633-ebae-4537-83e2-57af0d53a35e","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2021 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"立川, 悠輝"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"福田, 竜也"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"森, 崇"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"高瀬, 英希"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10096105","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8574","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"「箱庭」とは，IoT / 自動運転時代の包括的な仮想シミュレーション環境である．箱庭プロトタイプモデルのひとつとして，マイコンシミュレータ Athrill および物理演算エンジン Unity で構成される単体ロボットシミュレータが成果物として公開されている．本研究では，単体ロボットシミュレータを活用した自律移動ロボットの開発において，その制御パラメータを自動探索する手法を提案する．まず，単体ロボットシミュレータの通信方式を拡張し，シミュレータ上のテストを制御できるようにする．そして，自律移動ロボットの制御パラメータを変更してテストを繰り返し実行することで，適切な値の探索を実現する．提案手法の有効性を議論するため，ステアリング量の計算のための PID パラメータに提案手法を適用した．その結果，コースの周回時間を最短にできる制御パラメータを探索できることを確認した．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告システム・アーキテクチャ（ARC）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2021-03-18","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"23","bibliographicVolumeNumber":"2021-ARC-244"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":210472,"updated":"2025-01-19T18:08:58.274330+00:00","links":{}}