| Project/Area Number |
15K21033
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Control engineering/System engineering
Intelligent mechanics/Mechanical systems
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| Research Institution | University of Yamanashi |
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Principal Investigator |
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| Co-Investigator(Renkei-kenkyūsha) |
FUJIMORI Atsushi 山梨大学, 大学院総合研究部, 教授 (20209109)
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| Project Period (FY) |
2015-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2015: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
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| Keywords | 隊列制御 / 故障推定 / パーティクルフィルタ / 画像ベースド制御 |
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| Outline of Final Research Achievements |
In this study, we consider fault detection and formation control for multiple mobile robots based visual information. We construct the state estimation based on particle filter using normal model and fault models of mobile robots. The visual state estimation method is not effective under changing light environments. This problem needs to be solved when applying the fault detection to mobile robot. Therefore, we propose the state estimation fusing color invariance and sonar sensor for mobile robots. Then, we construct formation control of multiple mobile robots using the visual state estimator and image based control. To demonstrate the effectiveness of proposed method, the experiments are performed.
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