JP4264395B2 - 自走式移動車 - Google Patents
自走式移動車 Download PDFInfo
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- JP4264395B2 JP4264395B2 JP2004230367A JP2004230367A JP4264395B2 JP 4264395 B2 JP4264395 B2 JP 4264395B2 JP 2004230367 A JP2004230367 A JP 2004230367A JP 2004230367 A JP2004230367 A JP 2004230367A JP 4264395 B2 JP4264395 B2 JP 4264395B2
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- 238000011156 evaluation Methods 0.000 claims description 69
- 230000013016 learning Effects 0.000 claims description 31
- 230000002068 genetic effect Effects 0.000 claims description 17
- 108090000623 proteins and genes Proteins 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 230000004931 aggregating effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 5
- 230000001149 cognitive effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 230000035772 mutation Effects 0.000 description 4
- 230000004083 survival effect Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000000644 propagated effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000007430 reference method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000037303 wrinkles Effects 0.000 description 1
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- Feedback Control In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
2 制御部
3 駆動輪
4 補助輪
5 駆動モータ
6 エンコーダ
7 距離センサ
8 作業部
9 入力部
21 外周
22 移動範囲
23 障害物
31 移動ステップ
61 目標範囲
81 重点範囲
91 有効座標数
Claims (4)
- 移動手段、自己位置を検出するための検出手段、前記検出手段の検出結果に基づいて前記移動手段を制御する制御手段、及び前記制御手段への入力手段を備えた自走式移動車であって、
前記制御手段は、前記移動手段によって実際に辿った複数の走行経路について、前記入力手段を用いて入力されるユーザの前記各走行経路に対する評価に基づいて学習をし、
前記走行経路の学習には遺伝的アルゴリズムを用いており、
前記遺伝的アルゴリズムは、前記自走式移動車が前記走行経路として走行した重点範囲内の通過地点の座標の数をもとにして、前記走行経路の動作、座標及び走行方向としてのパラメータと、そのパラメータ解とをそれぞれ遺伝子と個体に見立てて、前記パラメータの最適近似解を求めることに適用されることを特徴とする自走式移動車。 - 請求項1に記載の自走式移動車において、前記重点範囲は、前記移動手段によって実際に辿った複数の初期走行経路について、前記入力手段を用いて入力される前記ユーザの前記各初期走行経路に対する初期評価に基づいて定められることを特徴とする自走式移動車。
- 請求項2に記載の自走式移動車において、前記各初期走行経路についての前記初期評価は前記各初期走行経路が辿る各座標について点数を付与することから成り、前記重点範囲は前記点数をすべての前記走行経路について前記座標毎の累積値が所定の閾値を超える前記座標の範囲として得られることを特徴とする自走式移動車。
- 請求項1〜3のいずれか1項に記載の自走式移動車において、前記走行経路の学習によって得られた複数の前記走行経路のうち評価が最も高い最高評価経路以外の前記各走行経路について、前記移動手段によって再度、実際に辿ったときの前記ユーザの評価を前記入力手段を用いて入力し、前記最高評価経路を含めて前記ユーザの評価が集計された集計結果に基づいて前記学習を繰り返すことを特徴とする自走式移動車。」です。
Priority Applications (1)
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JP2004230367A JP4264395B2 (ja) | 2004-08-06 | 2004-08-06 | 自走式移動車 |
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JP2004230367A JP4264395B2 (ja) | 2004-08-06 | 2004-08-06 | 自走式移動車 |
Publications (2)
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JP2006048472A JP2006048472A (ja) | 2006-02-16 |
JP4264395B2 true JP4264395B2 (ja) | 2009-05-13 |
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JP2004230367A Expired - Fee Related JP4264395B2 (ja) | 2004-08-06 | 2004-08-06 | 自走式移動車 |
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JP (1) | JP4264395B2 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP5142137B2 (ja) | 2007-12-10 | 2013-02-13 | 本田技研工業株式会社 | リモコン |
JP6681326B2 (ja) * | 2016-12-27 | 2020-04-15 | 本田技研工業株式会社 | 作業システムおよび作業方法 |
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