| Project/Area Number |
09650449
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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 |
計測・制御工学
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| Research Institution | HOKKAIDO UNIVERSITY |
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Principal Investigator |
TSUCHIYA Takeshi Hokkaido University, Graduate School of Eng.Pro., 大学院・工学研究科, 教授 (90001172)
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| Co-Investigator(Kenkyū-buntansha) |
MATSUSHITA Akihiko Graduate School of Eng., Hokkaido University, Assistant, 大学院・工学研究科, 助手 (20241359)
EGAMI Tadashi Faculty of Eng., Kanagawa University, Pro., 工学部, 教授 (40201363)
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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 |
¥3,400,000 (Direct Cost: ¥3,400,000)
Fiscal Year 1998: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 1997: ¥2,600,000 (Direct Cost: ¥2,600,000)
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| Keywords | Preview control / Online planning / Desired signal design / Navigation / Autonomous mobile robot |
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| Research Abstract |
Future information plays very important role in system planning, determination of control strategy. Effectiveness of utilization of future desired signals has been reported in the reference "Digital Preview and Predictive Control" written by the author. In this research, future information should be utilized not only for the design of dynamic control system, but also planning for total system design : planning of desired signal, planning of path and measurements. Fictitous desired signal design method for the dynamic control system. has been developed utilizing future information and applied to real control system. In the path control in the robot control system and machine tool control system, fictitous axis is introduced in order to improve the performance. Until now, although how to design the desired signal of the dynamic control system has not been considered, effective design methods utilizing future information are proposed in this research. Moreover, an auotnomus robot which works based on his reasoning and judgment under human directions is next consideration, which is followed by development of the previuos research. Navigation of a behaivourbased autonomous mobile robot is considered. Firstly, no information about the environment is given to the robot, and then the robot gains his knowledge about the environment by walking around the environment. After obtaining the knowledge, his goal is set. The robot makes plan to reach the goal utilizing the knowledge obtained. Environments are assumed to change dynamically.
New future direction of system control may be revealed by this research.
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