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b10-1. 雑誌掲載論文 >
このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/16110
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| タイトル: | 移動ロボットの目標追従タスクに適した電波到来方向探知手法 |
| 著者: | 多田羅, 一昂
李, 根浩
丁, 洛榮 |
| キーワード: | Electromagnetic waves
Direction sensing
DoA detection prototype
Robot navigation
Target-oriented tasks |
| 発行日: | 2015 |
| 出版者: | 日本機械学会 |
| 誌名: | 日本機械学会論文集 |
| 巻: | 81 |
| 号: | 829 |
| 開始ページ: | 15-00109 |
| DOI: | 10.1299/transjsme.15-00109 |
| 抄録: | This paper introduces a novel direction-of-arrival (DoA) technique based on phase differences of electromagnetic waves. In detail, design and implementation issues for the DoA directional sensing are described, towards providing an efficient solution to mobile robot target tracking for various applications. What is the most important aspect from the practical point of view is how to realize accurate measurements of the bearing from an electromagnetic spot source. For the purpose, a DoA estimation model is proposed using a minimum number of antennas. Another focus lies in the implementation of an in-house DoA detection prototype considering the simplicity and generality of hardware configurations. This paper explains details of a purpose-built, cost-efficient solution ranging from the estimation model design to its hardware implementation suitable for autonomous robot navigation. Experimental results show that the proposed method for the DoA estimation and its hardware prototype can be considered quite satisfactory in an indoor environment. |
| Rights: | This is the author's version of a work accepted for publication by The Japan Society of Mechanical Engineers. Copyright (C) 2015 日本機械学会. 多田羅 一昂, 李 根浩, 丁 洛榮, 日本機械学会論文集, 81(829), 2015, p.15-00109. http://dx.doi.org/10.1299/transjsme.15-00109 |
| URI: | http://hdl.handle.net/10119/16110 |
| 資料タイプ: | author |
| 出現コレクション: | b10-1. 雑誌掲載論文 (Journal Articles)
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このアイテムのファイル:
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記述 |
サイズ | 形式 |
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| 21902.pdf | | 2980Kb | Adobe PDF | 見る/開く |
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