| Project/Area Number |
17500121
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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 |
Perception information processing/Intelligent robotics
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| Research Institution | Chuo University |
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Principal Investigator |
SAKANE Shigeaki Chuo University, Faculty of Science and Engineering, Professor (10276694)
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| Co-Investigator(Kenkyū-buntansha) |
ZHOU Hongjun Tokyo Metropolitan Industrial Technology Research Institute, IT Group, researcher (10384736)
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| Project Period (FY) |
2005 – 2007
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| Project Status |
Completed (Fiscal Year 2007)
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| Budget Amount *help |
¥3,680,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥180,000)
Fiscal Year 2007: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2006: ¥1,300,000 (Direct Cost: ¥1,300,000)
Fiscal Year 2005: ¥1,600,000 (Direct Cost: ¥1,600,000)
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| Keywords | RFID tag / mobile robot / mapping / semi-dynamic obiect |
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| Research Abstract |
Mapping and localization play important roles for autonomous mobile robots. Since most of the conventional mapping methods assume static environments, the obtained map lacks reliability for localization when real environment violates the assumption. In this project, we dealt with mapping and localization in environments containing semi-dynamic objects such as cabinets with wheels, chairs, and doors, which can be moved occasionally. We proposed a robot system that utilizes RFID tags, attached to the semi-dynamic objects, and laser scan patterns. As for the processing algorithm, we developed SLAM-SD, an extended (SLAM Simultaneous Localization and Mapping) method for semi-dynamic environment, which allows simultaneous localization of a robot, mapping of the environment, and localization of semi-dynamic objects. The method can update an occupancy grid map properly when semi-dynamic objects have been moved. The experimental results show effectiveness of the proposed method.
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