| Project/Area Number |
09650301
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Gifu National College of Technology |
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Principal Investigator |
MATSUDA Fumio Gifu National College of Technology, Department of Electronic Control Engineering, Professor, 電子制御工学科, 教授 (60109303)
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| Co-Investigator(Kenkyū-buntansha) |
KITAGAWA Hideo Gifu National College of Technology, Department of Electronic Control Engineerin, 電子制御工学科, 助教授 (80224955)
CHONAN Isao Gifu National College of Technology, Department of Electronic Control Engineerin, 電子制御工学科, 助教授 (30227350)
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| Project Period (FY) |
1997 – 1998
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| Project Status |
Completed (Fiscal Year 1998)
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| Budget Amount *help |
¥3,100,000 (Direct Cost: ¥3,100,000)
Fiscal Year 1998: ¥400,000 (Direct Cost: ¥400,000)
Fiscal Year 1997: ¥2,700,000 (Direct Cost: ¥2,700,000)
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| Keywords | Robot / Autonomous Mobile Robot / Omni-Directional Movement / Holonomic / Dead Reckoning / Internal Sensor / Laser / Velocity Sensor / レーザ計測 |
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| Research Abstract |
To recognize the current position and posture of a mobile robot is called reckoning, which is one of the most important function for autonomous movement of robot. Reckoning is processed by means of an outer sign or internal sensor. The latter is called dead reckoning. The most usual method for dead reckoning of mobile robot is to use encoders which are attached to wheels or motor shafts.
The main cause of the error in the positioning is slippage of the wheels. This error keeps accumulate while moving. Therefore, it cannot be neglected when the robot moves in extensive area. It is necessary to develop the velocity sensor which is not related to rotation of wheels to reduce this error.
In many cases, internal and external sensors are used simultaneously for accurate reckoning. However, the most important thing is to progress the accuracy of each sensor. In this investigation, an accurate internal position sensor was developed.
2-dimensional velocity of the robot was measured using the compact velocity sensor onboard the robot, and 2-dimensional displacement was calculated from the measured velocity data.
By using this method, the accuracy of the dead reckoning is improved and the number of outer sign can be decreased. Furthermore, accurate self-positioning can be achieved even in the area where external sensor is useless by obstacles.
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