{"updated":"2025-01-19T14:44:59.764426+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00219872","sets":["1164:4061:10837:10976"]},"path":["10976"],"owner":"44499","recid":"219872","title":["物流倉庫における人・配送ロボット協調のためのセンサ統合システム"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-08-29"},"_buckets":{"deposit":"be3fdd6a-278a-454e-a440-6172f9b55036"},"_deposit":{"id":"219872","pid":{"type":"depid","value":"219872","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"物流倉庫における人・配送ロボット協調のためのセンサ統合システム","author_link":["574051","574048","574049","574050"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"物流倉庫における人・配送ロボット協調のためのセンサ統合システム"},{"subitem_title":"Fusion of Distributed Sensors for Human and Mobile Robot Collaboration in Logistic Warehouse","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"モビリティ","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2022-08-29","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"名古屋大学大学院工学研究科"},{"subitem_text_value":"国立情報学研究所"},{"subitem_text_value":"名古屋大学大学院工学研究科"},{"subitem_text_value":"名古屋大学大学院工学研究科／名古屋大学未来社会創造機構"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Graduate School of Engineering Nagoya University","subitem_text_language":"en"},{"subitem_text_value":"National Institute of Informatics","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Engineering Nagoya University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Engineering Nagoya University / Institute of Innovation for Future Society","subitem_text_language":"en"}]},"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/219872/files/IPSJ-UBI22075021.pdf","label":"IPSJ-UBI22075021.pdf"},"date":[{"dateType":"Available","dateValue":"2024-08-29"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-UBI22075021.pdf","filesize":[{"value":"12.3 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":"36"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"a91deb2a-854a-4002-876c-f32851052291","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":"浅井, 悠佑"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"青木, 俊介"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"米澤, 拓郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"河口, 信夫"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11838947","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":"2188-8698","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"コンピューティング技術や深層学習技術の発達に伴い，自走式配送ロボット (AMR) の利用が進んでいる．産業面での利用も加速しており，物流倉庫においては配送ロボットがピッキング作業の一部を担うなど，オートメーション化の流れは必至であると言える．しかし，物流倉庫には棚や商品が所狭しと置かれており，ナビゲーションをする際には多くの死角が存在する．従来の AMR は搭載センサのみを用いてナビゲーションするため，死角の多い環境においては，衝突の危険性がある．死角となりうる箇所を対象に見えない障害物の動きを対象とした手法が提案されているが，死角の場所が建物に依存している場合や実験室環境もしくは簡易なシミュレーションによる検証のみにとどまっている場合が多い．そこで本研究では，これらの問題を解決するために実環境でのセンシングを行い，センシング情報を配送ロボットナビゲーションに利用する仕組みを提案する．死角の位置の変化を念頭に，時間変化を考慮したコストマップ構築手法を提案し，実際の物流倉庫を模したシミュレーション環境において実験，評価を行う．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告ユビキタスコンピューティングシステム（UBI）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2022-08-29","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"21","bibliographicVolumeNumber":"2022-UBI-75"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"created":"2025-01-19T01:19:55.704572+00:00","id":219872,"links":{}}