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Research on Environment Map Generation Method by Vahicle Robot and Its Application

Research Project

Project/Area Number 08650287
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionYokohama National University

Principal Investigator

OKUMA Michio  Yokohama National University Faculty of Engineering, Lecturer, 工学部, 講師 (60213667)

Co-Investigator(Kenkyū-buntansha) TODO Isao  Yokohama National University Faculty of Engineering, Professor, 工学部, 教授 (70017888)
Project Period (FY) 1996 – 1997
Project Status Completed (Fiscal Year 1997)
Budget Amount *help
¥2,300,000 (Direct Cost: ¥2,300,000)
Fiscal Year 1997: ¥400,000 (Direct Cost: ¥400,000)
Fiscal Year 1996: ¥1,900,000 (Direct Cost: ¥1,900,000)
KeywordsRobotics / Visual data processing / Environment map generation / High-speed correlation processor for tracking / Vehicle robot / Route generation / Obstacle detetion / Locating position
Research Abstract

For the purpose of applying robots to uncharted surroundings, a method is proposed for environment map generation by visual data processing through "Tracking Vision" The following results have been obtained :
1. Capability of the method is demonstrated by experimetns to detect and locate obstacles in the surroundings for the map generation. By combining a dynamic visual data processing unit and a vehicle robot, the method has been implemented into an experimental system at comparatively low cost. While scanning the search area, a visual sensor i.e.a CCD camera installed in the robot converts the search area scene into dynamic visual signal. The unit is composed of the Tracking Vision and a workstation. The former processes the sensor's signals and provides the latter with the output, which is analyzed quantitatively to identify obstacles. When the scanning is completed and the robot is informed of existence of the obstacles, the vehicle robot initiates action to locate the positions of the obstacles.
2. Furthermore, another method has been developed in order to generate two kinds of optimal routes, minimizing traveling distance or time employing obstacle-avoidance techniques while robots trek through areas. Additional experiments have been performed with successful results, showing beneficial utility of the environment maps in practical use. During the experiments, the robot safely trekked through an area having distributed obstacles.

Report

(3 results)
  • 1997 Annual Research Report   Final Research Report Summary
  • 1996 Annual Research Report

URL: 

Published: 1996-04-01   Modified: 2016-04-21  

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