{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00234953","sets":["581:11492:11499"]},"path":["11499"],"owner":"44499","recid":"234953","title":["効率と安全を考慮したコストマップを用いた人と協調する倉庫内配送ロボットナビゲーション"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-06-15"},"_buckets":{"deposit":"1989f05f-ca12-4fdf-a5c1-0e90112cfc5f"},"_deposit":{"id":"234953","pid":{"type":"depid","value":"234953","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"効率と安全を考慮したコストマップを用いた人と協調する倉庫内配送ロボットナビゲーション","author_link":["641288","641289","641290","641291","641297","641293","641296","641292","641294","641295"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"効率と安全を考慮したコストマップを用いた人と協調する倉庫内配送ロボットナビゲーション"},{"subitem_title":"Collaborative AMR Navigation with Costmap Considering Efficiency and Safety in Warehouse","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"[特集:移動の価値を再創造する高度交通システムとパーベイシブシステム] 配送ロボット，人とロボットの協調作業，物流倉庫オートメーション","subitem_subject_scheme":"Other"}]},"item_type_id":"2","publish_date":"2024-06-15","item_2_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":"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"},{"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_2_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":"Graduate School of Engineering, Nagoya University","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","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"}]},"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/234953/files/IPSJ-JNL6506007.pdf","label":"IPSJ-JNL6506007.pdf"},"date":[{"dateType":"Available","dateValue":"2026-06-15"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-JNL6506007.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":"8"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"c1f1a60e-caf4-44ff-876d-0cf062a99b55","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2024 by the Information Processing Society of Japan"}]},"item_2_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"浅井, 悠佑"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"片山, 晋"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"浦野, 健太"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"米澤, 拓郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"河口, 信夫"}],"nameIdentifiers":[{}]}]},"item_2_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Yusuke, Asai","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Shin, Katayama","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kenta, Urano","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Takuro, Yonezawa","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nobuo, Kawaguchi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_2_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00116647","subitem_source_identifier_type":"NCID"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_6501","resourcetype":"journal article"}]},"item_2_publisher_15":{"attribute_name":"公開者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"item_2_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1882-7764","subitem_source_identifier_type":"ISSN"}]},"item_2_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"ウイルス感染拡大によってEコマースの利用が大幅に拡大した結果，物流倉庫で扱うモノの量の増加により自律型配送ロボットを使ったオートメーション化技術に注目が集まっている．物流倉庫の作業の中でもピッキング作業はコストの多くを占め，ピッキング作業の自動化が社会的に求められている．商品を棚から取り出す作業は人が行い，取り出した商品を配送ロボットが搬送する方式である人とロボットの協調ピッキングは既存の倉庫を活用しながら生産性向上が期待できる．本研究では，人と配送ロボットが協調してピッキング作業を行う際に効率性と安全性を考慮したナビゲーションの仕組みを提案する．ナビゲーションの際に用いるコストマップに作業者位置の確率的情報の付与を行い，作業者がいない場所においては高速に走行して，かつ作業者との近接頻度を減らし効率性と安全性の両立を可能にする．シミュレーション実験では複数シナリオのもと，効率性，安全性の両面で評価を行った．シミュレーション実験を行った結果，効率性において提案手法を用いると低速で配送ロボットを運用した場合は効率性が27.4%ほど低下したが，高速運用時は効率性の低下はあまり見られなかった．安全性は従来手法と比較した結果，最大で約29.0%の向上が確認された．本研究は今後，物流倉庫内において利用が進むであろう配送ロボットナビゲーション技術への活用が可能であると期待される．","subitem_description_type":"Other"}]},"item_2_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"With the growing demand for E-commerce due to pandemic, warehouse managers have been paying attention to warehouse automation technology using Autonomous Mobile Robots (AMRs). Order picking has been identified as one of the most laborious and costly warehouse operations. Therefore, automating picking tasks is crucial. Collaborative picking with pickers and AMRs can improve productivity, while AMRs collect and transport items picked by human workers. In this paper, we propose an AMR navigation method considering both efficiency and safety in logistic warehouses. We predict probabilistic human movements and project these information onto the costmap that an AMR uses. That costmap enables AMRs to navigate efficiently when no pickers are nearby and, at the same time, the robots can safely avoid dangerous areas congested by human workers. Simulated experiments demonstrate the superior performance in terms of efficiency and safety compared to existing methods. Hence, it is expected that our method can be applied to the existing AMR navigation technology in warehouse environment for more efficient and safer operation.","subitem_description_type":"Other"}]},"item_2_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"1048","bibliographic_titles":[{"bibliographic_title":"情報処理学会論文誌"}],"bibliographicPageStart":"1033","bibliographicIssueDates":{"bibliographicIssueDate":"2024-06-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"6","bibliographicVolumeNumber":"65"}]},"relation_version_is_last":true,"item_2_identifier_registration":{"attribute_name":"ID登録","attribute_value_mlt":[{"subitem_identifier_reg_text":"10.20729/00234833","subitem_identifier_reg_type":"JaLC"}]},"weko_creator_id":"44499"},"id":234953,"updated":"2025-01-19T09:37:38.825169+00:00","links":{},"created":"2025-01-19T01:36:52.412477+00:00"}