| Project/Area Number |
02680021
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| Research Category |
Grant-in-Aid for General Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Research Field |
Informatics
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| Research Institution | Nagoya University |
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Principal Investigator |
OHNISHI Noboru Nagoya Univ., School of Eng., Assoc. Prof., 工学部, 助教授 (70185338)
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| Co-Investigator(Kenkyū-buntansha) |
SUGIE Noboru Nagoya Univ., School of Eng., Prof., 工学部, 教授 (30126867)
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| Project Period (FY) |
1990 – 1991
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| Project Status |
Completed (Fiscal Year 1991)
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| Budget Amount *help |
¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 1991: ¥200,000 (Direct Cost: ¥200,000)
Fiscal Year 1990: ¥1,300,000 (Direct Cost: ¥1,300,000)
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| Keywords | Autonomus Mobile Robot / Environmental Map / Cognitive Map / Qualitative Description / Path Search / Map Generation / Landmark / Association |
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| Research Abstract |
The purposes of this study are to consider and find the followings :
1) Information necessary to represent an environmental map
2) Structure of environmental map
3) How to generate and modify an environmental map
4) Path planning using an environmental map
The above 1) and 2) were studied in 1990. In 1990, the issues 3) and 4) have been studied. A proposed map, based on the cognitive map of human, is qualitative and contains information such as action at intersection with a landmark, relative-locatioon and a sequence of landmarks in a path. A method of path-finding using the map is based on association from a scene. And modes of robot movement necessary for tasks such as map generation and path-finding are determined. As a result of computer simulation, the validity of our approach have been certified.
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