• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Study on a Robot with a World Model

Research Project

Project/Area Number 10650255
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionUniv. of Electro-Communications

Principal Investigator

TAKASE Kunikatsu  Univ. of Electro-Communications Graduate School of Information Systems, Professor, 大学院・情報システム学研究科, 教授 (10270927)

Co-Investigator(Kenkyū-buntansha) OKA Tetsushi  Univ. of Electro-Communications Graduate School of Information Systems, Assistant Professor, 大学院・情報システム学研究科, 助手 (00282921)
Project Period (FY) 1998 – 1999
Project Status Completed (Fiscal Year 1999)
Budget Amount *help
¥3,500,000 (Direct Cost: ¥3,500,000)
Fiscal Year 1999: ¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 1998: ¥1,700,000 (Direct Cost: ¥1,700,000)
KeywordsWorld Model / Autonomous Robot / Mark-based / 3D vision / Delivery Robot / Geometrical Model / Barcode / Path planning / 自立ロボット / ナビゲーション / 動作計画 / マークベーストビジョン / 3次元化 / マーコード / 分散TVカメラ
Research Abstract

3D Mark-based Vision : 3D Mark-based Vision has been studied, and a new method to use marks with topological features has been proposed to be implemented. Through the recognition of three marks attached to an object by a stereo vision, the position and orientation of the object has been successfully obtained. Furthermore a compact mark has been designed which enables the identification of an object among several thousands objects by integrating barcodes.
Construction of World Model : A method to construct a world model based on the above-mentioned 3D environment recognition has been studied. As a practical method to afford real-time recognition and motion planning, a combination of global model and local model has been proposed. In the scheme, the global model is used for a global planning and sub-goal setting, while the local planning for a frequent path check to the sub-goal. The method is implemented. And effectiveness of it has been shown experimentally.
Wide Area Visual Monitoring System : In order to monitor mobile robots in a wide area, a vision system which has a wide scope has been presented. Infrared LEDs are attached to on the top of robots to detect the robots reliably even in a long distance. Using this method, a goods delivery robots system in a building has been developed. Very robust navigating ability of the system has been verified experimentally.

Report

(3 results)
  • 1999 Annual Research Report   Final Research Report Summary
  • 1998 Annual Research Report
  • Research Products

    (20 results)

All Other

All Publications (20 results)

  • [Publications] T.Oka,J.Tashiro,K.Takase: "Object-oriented BeNet Programming for Date Focussed Bottom-up Design of Autonomous Agents"Proceedings of IAS. 399-406 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] T.Oka,J.Tashiro,K.Takase: "Date-focussed Parrallel Modular Software Design for a Communicating Autonmous Mobile Robot"Proceedings of SIRS(Edinburgh). 37-46 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 羽田、高瀬: "マークベースト3次元ビジョンの開発"電気学会論文誌. 120-C 5号. 625-633 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 岡、田代、植坂、高瀬: "BeNetとJava言語に基づく記述手法によるDロボット統合のソフトウェアの開発"日本ロボット学会誌. 19-2. (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Y.Hada,K.Takase: "A Robust Deadlock Free Navigation of Mobile Robots Based on a Task-level Feedback Control"Proceedings of the 1999 IEEE/RSJ Interm.Conf. on Robots and Systems. 629-634 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] T. Oka, J. Tashiro, K. Takase: "Object-oriented BeNet Programming for Data Focused Bottom-up Design of Autonomous Agents"Proc.of IAS. 399-406 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] T. Oka, J. Tashiro, K. Takase: "Data-focused Parralled Modular Software Design for a Communicating Autonomous Mobile Robot"Proc.of SIRS(in Edinburgh). 37-46 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Y. Hada, K. Takase: "A Robust Deadlock Free Novigation of Mobile Robots Based on a Task-level Feedback Control"Proc.of the 1999 IROS. 629-634 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 羽田芳朗、高瀬國克 他: "マークベースト3次元ビジョンシステムの開発"電気学会論文誌C(電子・情報システム部門誌). Vol.120-C,No.5. 予定 (2000)

    • Related Report
      1999 Annual Research Report
  • [Publications] Y.Hada,K.Takase: "A Robust Deadlock Free Navigation of Mobile Robots"Proc. of the 1999 IEEE/RSJ Inter. Conf. on Intel. Robots. 629-634 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 羽田芳朗、高瀬國克: "屋内搬送ロボットの研究"電気学会システム・制御研究会資料. SC-99-15. 25-30 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 羽田芳朗、高瀬國克: "環境側情報インフラを用いたロボットナビゲーションの研究"第17回日本ロボット学会学術講演会予稿集. 619-620 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] T.Oka,J.Tashiro,K.Takase: "Object Oriented BeNet Programming for Data-Focused Bottom-up Design of Autonomous Agents"Proc. of IAS. 399-406 (1998)

    • Related Report
      1999 Annual Research Report
  • [Publications] T.Oka,J.Tashiro,K.Takase: "Data-focused Paralell Modular Software Design for a Communicating Autonomous Mobile Robot"Proc. of SIRS. 37-46 (1998)

    • Related Report
      1999 Annual Research Report
  • [Publications] 羽田芳朗,鮎沢努,高瀬國克: "3次元マークベーストビジョンの研究" 電気学会研究会資料(システム制御研究会). SC-98-19〜28. 15-20 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 羽田芳朗,高瀬國克,鮎沢努: "3次元マークベーストビジョンシステムの開発" 第16回日本ロボット学会学術講演会予稿集. 373-374 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] Sang Min Jia,Kunikatsu Takase: "Study on a Robotic System for Clearing the Table(first report)" 第16回日本ロボット学会学術講演会予稿集. 375-376 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 高瀬國克: "社会支援ロボットの目指すもの" 第16回日本ロボット学会学術講演会予稿集. 383-384 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 岡哲資,高瀬國克: "実時間動的シナリオの統合による自律的コミュニケーション行動の設計" 第16回日本ロボット学会学術講演会予稿集. 707-708 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 岡哲資,高瀬國克: "JavaおよびBeNetに基づく自律ロボットの並列視覚プログラミング" 第16回日本ロボット学会学術講演会予稿集. 1385-1386 (1998)

    • Related Report
      1998 Annual Research Report

URL: 

Published: 1998-04-01   Modified: 2016-04-21  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi