{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00217984","sets":["1164:2836:10841:10911"]},"path":["10911"],"owner":"44499","recid":"217984","title":["ロボット周辺の非占有面積を用いた複数ポリシー切替によるナビゲーション手法の検証"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-05-19"},"_buckets":{"deposit":"5c48fb22-f6cb-4e4e-a814-4de12a732d98"},"_deposit":{"id":"217984","pid":{"type":"depid","value":"217984","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"ロボット周辺の非占有面積を用いた複数ポリシー切替によるナビゲーション手法の検証","author_link":["565838","565837"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ロボット周辺の非占有面積を用いた複数ポリシー切替によるナビゲーション手法の検証"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボット・自律移動体","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2022-05-19","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京女子大学大学院理学研究科"},{"subitem_text_value":"東京女子大学大学院理学研究科"}]},"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/217984/files/IPSJ-DPS22191044.pdf","label":"IPSJ-DPS22191044.pdf"},"date":[{"dateType":"Available","dateValue":"2024-05-19"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-DPS22191044.pdf","filesize":[{"value":"1.1 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":"34"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"3850c69a-449a-4584-8246-d05b8102887a","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2022 by the Information Processing Society of Japan"}]},"item_4_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_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10116224","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":"2188-8906","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"近年，多様な動的環境を対象とした，深層強化学習による自律移動ロボットのナビゲーション手法が研究されている．しかし，学習を行うシミュレーション環境と実際の環境には差異が存在するため，学習された方策を直接現実世界に適用することは安全面および効率面で最適ではない場合がある．これに対し，複数の行動決定方法を組み合わせるアプローチが提案されているが，既存手法では狭い環境や混雑した状況下において危険性の高い状況の見落としや移動速度の低下が発生する．これらの問題を解決するため，我々はロボット周辺の非占有面積を用いた状況判定方法およびリセットポリシーを導入した複数ポリシー切り替えによるナビゲーション手法を提案してきた．本稿では，リセットポリシーのアルゴリズム設計と提案手法の実装を行い，シミュレーション環境におけるナビゲーション実験によって提案手法の性能を検証する．そして，従来手法ではロボットの振動や停止が起こりやすい狭い環境において，提案手法を用いることで成功率が向上することを示す．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告マルチメディア通信と分散処理（DPS）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-05-19","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"44","bibliographicVolumeNumber":"2022-DPS-191"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":217984,"updated":"2025-01-19T15:18:56.706155+00:00","links":{},"created":"2025-01-19T01:18:24.389011+00:00"}