@article{oai:niigata-u.repo.nii.ac.jp:00003080,
 author = {松島, 晧三 and 山本, 正信 and 大中, 廣行},
 issue = {518},
 journal = {精密機械, 精密機械},
 month = {Feb},
 note = {This study is on a moving robot with the tactile sensor, which is able to autonomously find the path to move. The function of the tactile sensor which is installed on the moving robot was described in the previous report. This paper describes the control method of the robot and the path-finding algorithm. The algorithm actively uses the information concerning obstacles obtained by the tactile sensor during the movement of the robot. The robot has three control modes; it call move straight forward or backward, or can make a turn on the spot. These modes are commanded by a mini-computer. The path-finding algorithm described here may be called as "Groping method". This algorithm consists of the following three sub-algorithms as "Normal searching", "Decision of steering clear of obstacle" and "Reverse searching". The abilities of the robot are shown by the experimental results.},
 pages = {167--172},
 title = {触覚つき移動ロボットに関する基礎的研究 (第2報) : その制御と経路探索の基礎的実験},
 volume = {44},
 year = {1978}
}