| Project/Area Number |
12650441
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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 |
Control engineering
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| Research Institution | Shizuoka University |
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Principal Investigator |
HASHIMOTO Takeshi Engineering, Associate Professor, 工学部, 助教授 (60228418)
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| Co-Investigator(Kenkyū-buntansha) |
YAMAMOTO Shigehiro Kobe University of Merchantile Marine, Associate Professor, 商船学部, 助教授 (60294261)
WATANABE Takashi Information, Professor, 情報学部, 教授 (90201201)
山口 高平 静岡大学, 情報学部, 教授 (20174617)
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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 |
¥3,400,000 (Direct Cost: ¥3,400,000)
Fiscal Year 2002: ¥1,000,000 (Direct Cost: ¥1,000,000)
Fiscal Year 2001: ¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 2000: ¥1,200,000 (Direct Cost: ¥1,200,000)
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| Keywords | Mobile Robot / Image Measurement / Intellectual Control / Position Measurement / Discrimination of Obstacles / Path Teaching / Hough Transform |
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| Research Abstract |
The following research results could be obtained in the research period.
1. The establishment of the position measuring of long-distance and high precision
An experimental examination was carried out about the method of decreasing the influences of the quantization error on the position measurement. Specially, speed-up could be realized by using several cameras. This method can be applied to the general position measurements, such as intelligent transport system.
2. The proposal of the navigation method of mobile robot by beams of light
The precision and flexibility of the proposed navigation method that used beams of light projected from the main robot were examined, and satisfactory effect could be proved. This method has the merits that the navigation of the sub robot is stable and the structure of the sub robot is simple. Considering the running chrematistics of the sub robot, the routes of the sub robot were designed. The validity of the proposal method could be confirmed by the experiments which plural sub robots were used for.
The proposal of the general-purpose carriage method by the cooperation tasks
General-purpose object carriage by the cooperative tasks was tested, and it succeeded in verifying that validity. This system is thought to be able to carry the heavy desk and so on by cooperative tasks of sub robots, in order to realize the full automatic room cleaning system.
The proposal of the distinction method of targets and the path teaching method
The distinction method of targets and obstacles was investigated using the local visual information (color information, patterns, etc.). And the path teaching method was proposed.
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