| Project/Area Number |
16560387
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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 | Kagawa University |
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Principal Investigator |
TAKAHASHI Satoru Kagawa University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (50297579)
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| Co-Investigator(Kenkyū-buntansha) |
ISHIHARA Hidenori Kagawa University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (90273292)
NOHMI Masahiro Kagawa University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (20325319)
HIDAKA Koichi Tokyo Denki University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (10321407)
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| Project Period (FY) |
2004 – 2005
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| Project Status |
Completed (Fiscal Year 2005)
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| Budget Amount *help |
¥3,700,000 (Direct Cost: ¥3,700,000)
Fiscal Year 2005: ¥2,100,000 (Direct Cost: ¥2,100,000)
Fiscal Year 2004: ¥1,600,000 (Direct Cost: ¥1,600,000)
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| Keywords | Mobile robot / Image processing / Object recognition / Autonomous control / Visual feedback / Tracking control |
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| Research Abstract |
Research results are summarized as follows :
1."Parameter Estimation"
In order to do the visual feedback control to the mobile robot amounted on a CCD camera, we considered new method which is included both the feedback control theory and the perspective system theory by using motor parameters.
2."Development of Algorithm of Visual Feedback"
The image-processing technique for performing the visual feedback control was considered. Then, we developed the optimal visual feedback control algorithm.
3."Development of Algorithm of Mobile Robot's Orbit"
The theory of dynamic splines to make the orbit of robot was considered. Then, the dynamic splines that are used are periodic and are obtained by optimizing over both control and initial data. Based on the dynamic splines, we considered the system which can recognize the environment of robot.
4."Construct of the control systems of visual feedback"
We developed an observation device amounted on a laser range finder and a CCD camera, instead of the mobile robot's control. Then, we proposed new method for the object recognition and the tracking control, respectively. For the tracking control, we constructed PID control with an extended Kalman filter to realize control system without time delay.
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