ビークル制御

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自動車関連の研究　

（論文）

住友宣仁，岡島寛，松永信智，経路の道幅を考慮した状態フィードバック型経路追従制御則の設計，計測自動制御学会論文集，Vol. 57, No. 8, p. 349-357 (2021)

宮崎剛司，北原晃輔，岡島寛，松永信智：速度関数の最適化による車両の経路追従制御，システム制御情報学会論文誌Vol. 31, No. 7, pp. 274-280（2018）

松永信智，岡島寛，志田裕紀，松野大亮：ドライビングシミュレータを用いた注視距離依存型操舵モデルの推定と評価，機械学会論文集， Vol. 83, No. 851,  p. 16-00519 (2017)

岡島寛，松永信智：モデル誤差抑制補償器に基づくロバスト経路追従制御，システム制御情報学会論文誌，Vol.29，No.10，pp.466-468（2016）

岡島寛，松永信智，川路茂保：ニュートラルステア特性実現のための直接ヨーモーメント制御，計測自動制御学会論文集，Vol.45，No.3，pp.153-159 (2009)

岡島寛，浅井徹，川路茂保：経路追従問題における最適速度制御，計測自動制御学会論文集，Vol.44，No.7，pp.566-574 (2008) 

岡島寛，浅井徹：「軌道の差」の評価に基づく軌道追従制御，システム制御情報学会論文誌，Vol.20，No.4，pp.133-143 (2007)

（国際会議）

T. Honda, N. Matsunaga and H. Okajima: Hybrid Steering Model depending on Driver's Gazing Point to detect inattentive driving using Machine Learning, 19th International Conference on Control, Automation and Systems, 1344-1349 (2019)

D. Matsuno, N. Matsunaga, Y. Shida and H. Okajima：Evaluation of steering model depending on gazing distance by using driving simulator, Proceedings of ICCAS 2016 (2016)

H. Okajima, S. Yonaha, N. Matsunaga and S. Kawaji：Direct Yaw-moment Control method for electric vehicles to follow the desired path by driver, SICE Annual Conference 2010, 2010.8.

H. Okajima, T. Asai and S. Kawaji：Optimal Velocity Control Method in Path Following Control Problem, Proc. of The 17th IFAC World Congress, pp.90-95, 2008.6.

H. Okajima and T. Asai：Path-Following Control based on Trajectory Differences, Proc. of The 10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems, pp.735-740, 2004.7. 

電動車いす・小型モビリティの研究

（論文）

 松永信智，坂本将一，田中友樹，岡島寛：モデル誤差抑制補償器を用いたSSV型パーソナルビークルの操縦支援制御系の設計と屋外走行評価，機械学会論文誌C編，Vol. 84，No. 858, 17-00349 (2018) 

菅野達也，壇裕介，岡島寛，松永信智：モデル誤差抑制補償器による福祉用パーソナルビークルのロバストな屋内隊列走行システムの走行評価，機械学会論文集(Ｃ),Vol.82, No.840, pp.15-00690 (2016)

宮本洋孝，田中友樹，岡島寛，松永信智：PID制御を用いたモデル誤差抑制補償器と拡張カルマンフィルタによるスキッドステア型車両の操縦支援制御，電気学会論文誌C，Vol.136, No.5, pp.642-649 (2016) 

丸野裕太郎，A. T. Zengin，岡島寛，松永信智，中村憲仁：モデル誤差補償による福祉用前輪駆動型パーソナルビークルSTAVi の操縦特性の改善，JSME(C編), Vol.79, No.808, pp.4721-4733 (2013)

A. T. Zengin, Y. Maruno, H. Okajima, N. Matsunaga：Maneuverability Improvement of Front-Drive-Type Electric Wheelchair STAVi, SICE Journal of Control, Measurement, and System Integration, Vol.6, No.6, pp.419-426 (2013) 

（国際会議）

I. Yamamoto, K. Nakamura, N. Matsunaga and H. Okajima: Crowd Tracking of Electric Wheelchair using RGB-D Camera with Median of Candidate Vectors Observer, Proceedings of the SICE Annual Conference 2021 (2021)

Y. Takeuchi, N. Matsunaga and H. Okajima: Driving Instruction and Training of Welfare Vehicle controlled by Virtual Platoon Scheme using Sharing System of AR, 19th International Conference on Control, Automation and Systems, 1438-1443 (2019)

K. Tanaka, S. Fukumoto, N. Matsunaga and H. Okajima:Obstacle Avoidance of Welfare Vehicle with Head Mounted Display using Spatial Mapping of Driving Environment, 19th International Conference on Control, Automation and Systems, 1222-1227 (2019)

Nobutomo Matsunaga, Yudai Takeuchi and Hiroshi Okajima, Driver’s Gaze-point Analysis of Virtual Platoon Driving for Welfare Vehicle using Direct Eye Measurement Device with HMD, 2019 12th Asian Control Conference, 18834072 (2019)

Shoichi Sakamoto, Nobutomo Matsunaga and Hiroshi Okajima, Hybrid Steering Model Estimated by Particle Swarm optimization Based on Driver’s Eye Tracking Information, 2018 18th International Conference on Control, Automation and Systems, Paper No.P00160 (2018)

Nobutomo Matsunaga, Ryota Kimura, Haruya Ishiguro, Hiroshi Okajima, Driving Assistance of Welfare Vehicle with Virtual Platoon Control Method which has Collision Avoidance Function Using Mixed Reality, Proceeding of 2018 IEEE International Conference on Systems, Man, and Cybernetics, pp.1911-1916 (2018)

S. Kimura, N. Matsunaga, H. Okajima and G. Koutaki：Design of virtual platoon control system using augmented reality to assist welfare vehicle users, Proceedings of ICCAS 2017 (2017) 

S. Sakamoto, T. Tanaka, H. Okajima and N. Matsunaga：Maneuverability evaluation of skid steer welfare vehicle for robust assistance control with model error compensator, Proceedings of ICCAS 2017 (2017)

K. Kimura, N. Matsunaga and H. Okajima：Driving Assistance System forWelfare Vehicle using Virtual Platoon Control with Augmented Reality, Proceedings of the SICE Annual Conference 2017

T. Tanaka, H. Okajima and N. Matsunaga：Experiment of robust driving assistance control for skid steer welfare vehicle using model error compensator, Proceedings of ICCAS 2016 (2016) 

T. Sugano, H. Okajima, S. Samura and N. Matsunaga：Narrow space driving of welfare vehicles using robust platoon control with adaptive way point tracking, Proceedings of the SICE Annual Conference 2016, pp.1436-1441 (2016)

T.Sugano, H.Okajima and N.Matsunaga：Robust and precise platoon driving control of welfare vehicles along wheel track by using model error compensator, IECON2015, YF-001503

T. Sugano, Y. Dan, H. Okajima, N. Matsunaga and Z. Hu：Indoor Platoon Driving of Electric Wheelchair with Model Error Compensator along Wheel Track of Preceding Vehicle, The 5th International Symposium on Advanced Control of Industrial Processes, 2014.5

Y. Dan, H. Okajima, N. Matsunaga, Z. Hu and N. Nakamura：Experiment of Indoor Platoon Driving using Electric Wheelchair STAVi Controlled by Modeling Error Compensation System, ICT-PAMM Workshop on Mobility Assistance and Service Robotics, p26-31, 2013.11.

K. Nabekura, H. Okajima, N. Matunaga and N. Nakamura：On Collision-Avoidance Steering Assistance of Piggyback Type Electric Wheelchair with Inference of Driver’s Intention, ICT-PAMM Workshop on Mobility Assistance and Service Robotics, p20-25, 2013.11.

Y. Maruno, Y. Dan, A. T. Zengin, H. Okajima and N. Matsunaga：Maneuverability Analysis of Front Drive Type Personal Vehicle STAVi using Modeling Error Compensation System, 7th IFAC Symposium on Advanced in Automative Control, 2013.9.

A. T. Zengin, Y. Maruno, H. Okajima and N. Matsunaga：Slope driving experiment of front drive type electric wheelchair with casters using yaw-rate compensation, ICCAS 2012, 2012.10.

Y. Maruno, A. T. Zengin, H. Okajima,N. Matsunaga and N. Nakamura：Driving experiment of front drive type electric wheelchair using yaw-rate control, SICE Annual Conference 2012, WeA11-01 pp.1408-1413, 2012.8.

A. T. Zengin, Y. Maruno, H. Okajima and N. Matsunaga：Improvement in Straight-ahead Stability of Front Drive Type Electric Wheelchair using Yaw-rate Control, VTI 2012, 2012.7.

Y. Maruno, H. Okajima, A. T. Zengin and N. Matsunaga：Direct yaw moment control of front drive type electric wheelchair with free-casters, ICCAS 2011, 2011.10.

小型移動ロボットの研究

（論文）

岡島寛，奥村洸祐，松永信智：モデル誤差抑制補償器を用いた車輪型倒立振子のロバスト速度補償，電気学会論文誌(C), Vol. 139, No. 3, (2019)