{"created":"2022-12-16T07:22:55.137820+00:00","id":2000355,"links":{},"metadata":{"_buckets":{"deposit":"87bbaf84-72c0-418d-8c98-bf2f02ec5966"},"_deposit":{"created_by":15,"id":"2000355","owner":"15","owners":[15],"owners_ext":{"displayname":"北見工業大学学術機関リポジトリ（KIT-R）","username":"kitir"},"pid":{"revision_id":0,"type":"depid","value":"2000355"},"status":"published"},"_oai":{"id":"oai:kitami-it.repo.nii.ac.jp:02000355","sets":["1:87"]},"author_link":[],"control_number":"2000355","item_1646810750418":{"attribute_name":"出版タイプ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_3_biblio_info_186":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2021","bibliographicIssueDateType":"Issued"},"bibliographicPageStart":"954","bibliographicVolumeNumber":"11","bibliographic_titles":[{"bibliographic_title":"Agriculture","bibliographic_titleLang":"en"}]}]},"item_3_description_184":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Abstract: In recent years, autonomous robots have extensively been used to automate several\nvineyard tasks. Autonomous navigation is an indispensable component of such field robots.\nAutonomous and safe navigation has been well studied in indoor environments and many algorithms\nhave been proposed. However, unlike structured indoor environments, vineyards pose special\nchallenges for robot navigation. Particularly, safe robot navigation is crucial to avoid damaging the\ngrapes. In this regard, we propose an algorithm that enables autonomous and safe robot navigation\nin vineyards. The proposed algorithm relies on data from a Lidar sensor and does not require a GPS.\nIn addition, the proposed algorithm can avoid dynamic obstacles in the vineyard while smoothing\nthe robot’s trajectories. The curvature of the trajectories can be controlled, keeping a safe distance\nfrom both the crop and the dynamic obstacles. We have tested the algorithm in both a simulation\nand with robots in an actual vineyard. The results show that the robot can safely navigate the lanes\nof the vineyard and smoothly avoid dynamic obstacles such as moving people without abruptly\nstopping or executing sharp turns. The algorithm performs in real-time and can easily be integrated\ninto robots deployed in vineyards.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_3_publisher_212":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"MDPI","subitem_publisher_language":"en"}]},"item_3_relation_191":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.3390/agriculture11100954","subitem_relation_type_select":"DOI"}}]},"item_3_rights_192":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"© 2021 by the authors. Licensee MDPI","subitem_rights_language":"en"}]},"item_3_select_195":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_select_item":"publisher","subitem_select_language":"en"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Abhijeet Ravankar","creatorNameLang":"en"}]},{"creatorNames":[{"creatorName":"Ankit A. Ravankar","creatorNameLang":"en"}]},{"creatorNames":[{"creatorName":"Arpit Rawankar","creatorNameLang":"en"}]},{"creatorNames":[{"creatorName":"Yohei Hoshino","creatorNameLang":"en"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_access","date":[{"dateType":"Available","dateValue":"2022-12-16"}],"filename":"agriculture-11-00954-v4.pdf","filesize":[{"value":"4.2 MB"}],"format":"application/pdf","licensetype":"license_0","mimetype":"application/pdf","url":{"url":"https://kitami-it.repo.nii.ac.jp/record/2000355/files/agriculture-11-00954-v4.pdf"},"version_id":"715c4477-2761-49db-a491-c31f03c448a8"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"Autonomous and Safe Navigation of Mobile Robots in Vineyard with Smooth Collision Avoidance","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Autonomous and Safe Navigation of Mobile Robots in Vineyard with Smooth Collision Avoidance","subitem_title_language":"en"}]},"item_type_id":"3","owner":"15","path":["87"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2022-12-16"},"publish_date":"2022-12-16","publish_status":"0","recid":"2000355","relation_version_is_last":true,"title":["Autonomous and Safe Navigation of Mobile Robots in Vineyard with Smooth Collision Avoidance"],"weko_creator_id":"15","weko_shared_id":-1},"updated":"2023-04-20T08:12:09.724832+00:00"}