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Development of magnetic map that can be shared among different specifications of robots to work in various environments

Research Project

Project/Area Number 15K21581
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Intelligent robotics
Perceptual information processing
Research InstitutionOyama National College of Technology

Principal Investigator

Sam Ann Rahok  小山工業高等専門学校, 電気電子創造工学科, 助教 (30633870)

Research Collaborator Nakayama Taichi  
Project Period (FY) 2015-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2017: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2016: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000)
Fiscal Year 2015: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Keywords環境磁場 / 磁気センサのキャリブレーション / 共有可能な磁気マップ / 磁気マップ / マップの共有 / 磁気シールドルーム
Outline of Final Research Achievements

The purpose of this research is to develop a magnetic map that can be shared among different specifications of robots. To achieve this, it is necessary to have a universal coordinates for recording magnetic data at each position and an accurate calibration of the magnetic sensor. The universal coordinates can be obtained by combining the RTK-GPS with the encoders. For the calibration of the magnetic sensors, we use magnetic shield to cover the magnetic materials around the magnetic sensors to reduce the influence of the external magnetic field before performing the calibration to get an accurate calibration.
By using our magnetic map, a more robust autonomous navigation method can be achieved. Moreover, it is possible to share the magnetic map among the different specifications of robots.

Report

(4 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Research-status Report
  • 2015 Research-status Report
  • Research Products

    (1 results)

All 2016

All Presentation (1 results)

  • [Presentation] 磁気センサとレーザ測域センサを組み合わせた自律ナビゲーション法に関する研究2016

    • Author(s)
      中山太智、サムアン ラホック、井上一道、大根田浩久、田中昭雄
    • Organizer
      公益社団法人計測自動制御学会システムインテグレーション部門2016
    • Place of Presentation
      札幌コンベンションセンター
    • Year and Date
      2016-12-15
    • Related Report
      2016 Research-status Report

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Published: 2015-04-16   Modified: 2019-03-29  

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