{"created":"2025-01-19T01:30:04.845239+00:00","updated":"2025-01-19T11:10:45.671106+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00230363","sets":["6504:11436:11441"]},"path":["11441"],"owner":"44499","recid":"230363","title":["Safe-Relaxed A*と適応的ウインドウアプローチによる自律移動ロボットのハイブリッド経路計画"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-02-16"},"_buckets":{"deposit":"89c135c1-62b4-4aae-8417-6efa2e609425"},"_deposit":{"id":"230363","pid":{"type":"depid","value":"230363","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"Safe-Relaxed A*と適応的ウインドウアプローチによる自律移動ロボットのハイブリッド経路計画","author_link":["620549","620548","620547"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Safe-Relaxed A*と適応的ウインドウアプローチによる自律移動ロボットのハイブリッド経路計画"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ネットワーク","subitem_subject_scheme":"Other"}]},"item_type_id":"22","publish_date":"2023-02-16","item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_22_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"名工大"},{"subitem_text_value":"名工大"},{"subitem_text_value":"名工大"}]},"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/230363/files/IPSJ-Z85-2ZA-03.pdf","label":"IPSJ-Z85-2ZA-03.pdf"},"date":[{"dateType":"Available","dateValue":"2023-11-17"}],"format":"application/pdf","filename":"IPSJ-Z85-2ZA-03.pdf","filesize":[{"value":"1.0 MB"}],"mimetype":"application/pdf","accessrole":"open_date","version_id":"7e8aefe4-93c8-4874-b90f-7197a7327121","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2023 by the Information Processing Society of Japan"}]},"item_22_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"柘植, 恵太"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"加藤, 昇平"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"佐久間, 拓人"}],"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_22_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00349328","subitem_source_identifier_type":"NCID"}]},"item_22_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"近年，倉庫での運搬作業や接客業での配膳などの場面で自律移動ロボットが活躍している．これらの作業で必要となる技術に，経路計画がある．経路計画とは，決められた目的地までの経路を，障害物に衝突しないように作成することである．経路計画には3種類存在する．1）既知の静的環境で最適経路を作成する大域的経路計画，2）未知の動的環境で障害物を回避する局所的経路計画，これら2つを組み合わせた，3）ハイブリッド経路計画である．本研究では，制約緩和A*を安全化したSafe-Relaxed A*を大域的経路計画として提案し，適応的ウインドウアプローチを局所的経路計画に採用したハイブリッド経路計画を提案する．","subitem_description_type":"Other"}]},"item_22_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"194","bibliographic_titles":[{"bibliographic_title":"第85回全国大会講演論文集"}],"bibliographicPageStart":"193","bibliographicIssueDates":{"bibliographicIssueDate":"2023-02-16","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicVolumeNumber":"2023"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":230363,"links":{}}