{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00212999","sets":["6164:6165:6640:10712"]},"path":["10712"],"owner":"44499","recid":"212999","title":["人と共存する自律移動ロボットにおける安全性と効率性を考慮したナビゲーション手法の評価"],"pubdate":{"attribute_name":"公開日","attribute_value":"2021-06-23"},"_buckets":{"deposit":"e2e16a99-b8bd-4e62-98cb-57f2e1c91d3b"},"_deposit":{"id":"212999","pid":{"type":"depid","value":"212999","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"人と共存する自律移動ロボットにおける安全性と効率性を考慮したナビゲーション手法の評価","author_link":["544254","544255"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"人と共存する自律移動ロボットにおける安全性と効率性を考慮したナビゲーション手法の評価"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Internet of Things","subitem_subject_scheme":"Other"}]},"item_type_id":"18","publish_date":"2021-06-23","item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_18_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京女子大学"},{"subitem_text_value":"東京女子大学"}]},"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/212999/files/IPSJ-DICOMO2021101.pdf","label":"IPSJ-DICOMO2021101.pdf"},"date":[{"dateType":"Available","dateValue":"2023-06-23"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-DICOMO2021101.pdf","filesize":[{"value":"1.3 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":"44"}],"accessrole":"open_date","version_id":"5140ac53-f239-41df-a0ff-b34cd66efdfe","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2021 by the Information Processing Society of Japan"}]},"item_18_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"天野, 加奈子"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"加藤, 由花"}],"nameIdentifiers":[{}]}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_5794","resourcetype":"conference paper"}]},"item_18_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"近年，人と共存する自律移動ロボットに対する期待が高まっている．これらサービスロボットには，安全性に配慮した動作が求められ，特に，歩行者が存在する動的環境下で行動する移動ロボットの場合，ロボット自身が歩行者を認識し，回避行動をとる必要がある．我々はこれまで，歩行者を回避しつつ効率的に目標位置に到達するロボットの行動を強化学習により獲得し，それを経路計画に利用する手法を提案してきた．ここでは，時間の経過と歩行経路への侵入に対して負の報酬を与えることで，安全性と効率性の双方を考慮した行動を学習させた．本稿では，提案したナビゲーション手法を小型車輪型ロボットに実装し，実機においても提案手法が有効に機能することを検証する．ここでは，学習機構と合わせて，センサーによる人物追従機能，環境地図作成機能，自己位置推定機能をロボットに実装し，評価実験を行う．","subitem_description_type":"Other"}]},"item_18_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"740","bibliographic_titles":[{"bibliographic_title":"マルチメディア，分散協調とモバイルシンポジウム2021論文集"}],"bibliographicPageStart":"734","bibliographicIssueDates":{"bibliographicIssueDate":"2021-06-23","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicVolumeNumber":"2021"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":212999,"updated":"2025-01-19T17:18:28.579446+00:00","links":{},"created":"2025-01-19T01:13:55.058893+00:00"}