| Project/Area Number |
12555066
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 展開研究 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | HOKKAIDO UNIVERSITY |
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Principal Investigator |
KAKAZU Yukinori Hokkaido Univ., Grad. School of Eng., Prof., 大学院・工学研究科, 教授 (60042090)
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| Co-Investigator(Kenkyū-buntansha) |
NARUSE Keitarou Hokkaido Univ., Grad. School of Eng., Assistant Prof., 大学院・工学研究科, 助手 (10301938)
YU Wenwei Hokkaido Univ., Grad. School of Eng., Assistant Prof., 大学院・工学研究科, 助手 (20312390)
YOKOI Hiroshi Hokkaido Univ., Grad. School of Eng., Asso. Prof., 大学院・工学研究科, 助教授 (90271634)
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| Project Period (FY) |
2000 – 2002
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| Project Status |
Completed (Fiscal Year 2002)
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| Budget Amount *help |
¥10,900,000 (Direct Cost: ¥10,900,000)
Fiscal Year 2002: ¥2,300,000 (Direct Cost: ¥2,300,000)
Fiscal Year 2001: ¥4,100,000 (Direct Cost: ¥4,100,000)
Fiscal Year 2000: ¥4,500,000 (Direct Cost: ¥4,500,000)
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| Keywords | Snowplow Robot / Autonomous Work / Sensing / Outdoor Environment / Motion Control / 除雪作業 / ナビゲーション / 機械学習 / DGPS / 超音波診断 / ビジョン認識 / ワンボードマイコン / 走行マップ / マンマシンインターフュース |
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| Research Abstract |
In a snowfall region, snow-removal work during winter is hard work. Then, the purpose of this study is development of the autonomous work support module for snowplows carried out snow-removal work autonomously. In order to make a snow-removal work autonomously, it is necessary to detect an on-the-snow obstacle and an in-the-snow obstacle when the weather or temperature condition changed.
Therefore, in this research, we use sensors that are a pyroelectoric infrared sensor, a reflected infrared sensor, and an ultrasonic sensor for on-the-snow obstacle detection, and a metal sensor for in-the-snow obstacle detection on the autonomous snowplow. Moreover, GPS was carried in order to detect own position. Using the experimental model which carried these sensors and controller, an evaluation test of these sensors and a move control experiment of the move controller in outdoors environment were conducted, and the validity of an autonomous work support module was shown.
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