{"created":"2023-06-20T14:35:49.709571+00:00","id":2106,"links":{},"metadata":{"_buckets":{"deposit":"1e5e2111-a5f8-4365-ac63-fe47fc09d463"},"_deposit":{"created_by":1,"id":"2106","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"2106"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00002106","sets":["1887:1893","9:10:132:135"]},"author_link":["3291","3299","3293","3297","3292","3298","3294","3296","3295","3290"],"item_3_alternative_title_2":{"attribute_name":"その他のタイトル（英）","attribute_value_mlt":[{"subitem_alternative_title":"Simulation study of formation flight of micro air vehicles based on the collective motion control of organisms"}]},"item_3_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2009-03-31","bibliographicIssueDateType":"Issued"},"bibliographicVolumeNumber":"JAXA-RR-08-010","bibliographic_titles":[{"bibliographic_title":"宇宙航空研究開発機構研究開発報告"},{"bibliographic_title":"JAXA Research and Development Report","bibliographic_titleLang":"en"}]}]},"item_3_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"防災や偵察，気象観測等の情報収集システムとして無人航空機(UAV)の開発が進められているが，Micro Air Vehicle (MAV)と呼ばれる小型軽量の飛翔体は，大型機に比べて低コストで可搬性に優れ，墜落による人的被害の危険性が小さいなどの利点を持っている．ただし，MAVにはペイロードの制限や外乱に対する脆弱性などの問題があり，実用上の障害となっていることから，本研究ではこれらの問題を改善するための方法として多数のMAVを同時使用する「MAVの群制御」を検討した．この際，機能制限のあるMAVの群制御に適した方法として，単純なルールに基づく生物の群運動を参考にし，「接近」,「平行」,「反発」という3つのルールに基づく群制御モデルを開発した．これを用いて各種の条件下でシミュレーションを行った結果，故障や外乱等により一部の機体が失われても，残りの機体が影響を受けずに群飛行を維持できるというロバスト性を確認したほか，一部の機体の移動方向のみを指令することによる経路制御，相互作用の指向性を利用した旋回飛行制御，および相互作用領域の形状を操作することによる群の形状制御などに成功した．これらの結果から，生物の群制御を参考とした単純なルールに基づく群制御アルゴリズムの有効性を確認することができた．","subitem_description_type":"Abstract"}]},"item_3_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"Unmanned air vehicles (UAV) have been developed for the purpose of information gathering from the air, and micro air vehicle (MAV) is a feasible candidate for this purpose because of the low cost, high portability, and low risk of injury by crash. MAV, however, has an inevitable limit of performance owing to the insufficient payload or susceptibility to aerial turbulences. The application of collective motion control to MAV is proposed here to solve this problem. The biological collective motion control is relevant because it is realized by simple interaction rules among individuals such as \"approach\", \"parallel orientation\", and \"repulsion\" rules. Referring to these rules, simulation model of collective MAVs is developed and a formation flight of collective MAVs is successfully demonstrated under various conditions. The robustness to the change of number of MAVs is evident where the different numbers of MAVs can make stable formation flights without altering control parameters. The navigation control of collective MAVs under an unstable command transmission condition is realized by the non-commanded members following to the commanded members. The loitering of collective MAVs is realized by changing the directivity of interaction among MAV members. Furthermore, the control of formation shape is realized by changing the shape of interaction field around each member of collective MAVs. These results represent the availability of biological collective motion control for the operation of collective MAV system.","subitem_description_type":"Other"}]},"item_3_description_18":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"形態: カラー図版あり","subitem_description_type":"Other"}]},"item_3_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0064374000","subitem_description_type":"Other"}]},"item_3_description_33":{"attribute_name":"レポート番号","attribute_value_mlt":[{"subitem_description":"レポート番号: JAXA-RR-08-010","subitem_description_type":"Other"}]},"item_3_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構"}]},"item_3_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Japan Aerospace Exploration Agency (JAXA)"}]},"item_3_source_id_21":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1349-1113","subitem_source_identifier_type":"ISSN"}]},"item_3_source_id_24":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA1192675X","subitem_source_identifier_type":"NCID"}]},"item_3_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"宇宙航空研究開発機構研究開発本部数値解析グループ"},{"subitem_text_value":"工学院大学機械システム工学科"},{"subitem_text_value":"工学院大学機械システム工学科"},{"subitem_text_value":"工学院大学機械システム工学科"},{"subitem_text_value":"工学院大学機械システム工学科"}]},"item_3_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Numerical Analysis Group, Aerospace Research and Development Directorate, Japan Aerospace Exploration Agency (JAXA)"},{"subitem_text_language":"en","subitem_text_value":"Department of Mechanical Systems Engineering, Kogakuin University"},{"subitem_text_language":"en","subitem_text_value":"Department of Mechanical Systems Engineering, Kogakuin University"},{"subitem_text_language":"en","subitem_text_value":"Department of Mechanical Systems Engineering, Kogakuin University"},{"subitem_text_language":"en","subitem_text_value":"Department of Mechanical Systems Engineering, Kogakuin University"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"稲田, 喜信"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"時田, 拓明"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"二上, 将直"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"堀江, 数馬"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"高信, 英明"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Inada, Yoshinobu","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tokita, Hiroaki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Futakami, Masanao","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Horie, Kazuma","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Takanobu, Hideaki","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-01-15"}],"displaytype":"detail","filename":"64374000.pdf","filesize":[{"value":"1.9 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"64374000.pdf","url":"https://jaxa.repo.nii.ac.jp/record/2106/files/64374000.pdf"},"version_id":"7e1bd590-e0df-4497-9fc8-f9730639875a"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Collective Motion Control, Rule-based Interaction Model, Formation Flight, Micro Air Vehicle","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"technical report","resourceuri":"http://purl.org/coar/resource_type/c_18gh"}]},"item_title":"生物型群制御を用いた小型飛翔体の編隊飛行シミュレーション","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"生物型群制御を用いた小型飛翔体の編隊飛行シミュレーション"}]},"item_type_id":"3","owner":"1","path":["135","1893"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"2106","relation_version_is_last":true,"title":["生物型群制御を用いた小型飛翔体の編隊飛行シミュレーション"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T09:28:32.729332+00:00"}