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Development of automatic guided vehicle for construction site by utilizing SLAM

Research Project

Project/Area Number 18K04439
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 23010:Building structures and materials-related
Research InstitutionAshikaga University

Principal Investigator

NITTA YOSHIHIRO  足利大学, 工学部, 教授 (10318834)

Project Period (FY) 2018-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2020: ¥390,000 (Direct Cost: ¥300,000、Indirect Cost: ¥90,000)
Fiscal Year 2019: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2018: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000)
KeywordsAGV / 建築現場 / 自己位置推定 / SLAM / Visual SLAM / 無人搬送車 / ロボット / 省人化
Outline of Final Research Achievements

This research develops and proposes a navigation algorithm of mobile indoor automation ground vehicle (AGV) in construction site. The navigation methodology with AR markers for making a map of the construction site is presented and demonstrated in detail. In the navigation algorithm, the mobile indoor AGV can make 2D or 3D map inside the building construction site. From the driving test, it has seen that the navigation algorithm with AR marker is essential to control the attitude of the UGV and drive autonomously. The proposed navigation algorithm is very important to drive AGV autonomously inside building construction site.

Academic Significance and Societal Importance of the Research Achievements

本研究は、建築現場での労働力不足を補うことを目的として、建築資材を搬送する無人搬送車の実用化を目的として行っている。建築現場は、施工中であるため、レイアウトを表す地図がないため、無人搬送車を自動走行させることが難しい箇所のひとつである。そこで、建築現場にセンサ情報のみからSLAMを用いて地図を作成するとともに、地図作成のためのマーカーを用いたナビゲーションアルゴリズムも提案した。本研究の成果は、建築現場への無人搬送車の導入において有用であると考えており、建築現場の省人化に寄与すると考えている。

Report

(4 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Research-status Report
  • 2018 Research-status Report
  • Research Products

    (5 results)

All 2020 2019

All Presentation (5 results) (of which Int'l Joint Research: 1 results)

  • [Presentation] Y.Nitta, D.Y.Bogale, Y.Kuba and Z.Tian2020

    • Author(s)
      Evaluating SLAM 2D and 3D Mapping of Indoor Structures
    • Organizer
      International Symposium on Automation and Robotics in Construction, IAARC
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] SLAMを用いた建築物屋内の測量2020

    • Author(s)
      張天,仁田佳宏,石田正美
    • Organizer
      2020年度日本建築学会大会(関東)
    • Related Report
      2020 Annual Research Report
  • [Presentation] 点群データの建築物メンテナンスへの活用2020

    • Author(s)
      仁田佳宏,D.Y.Bogale,張天,久芳頼正
    • Organizer
      ロボッテクス・メカトロニクス講演会2020
    • Related Report
      2020 Annual Research Report
  • [Presentation] Manufacturing UGV for Data Collection inside the Building2019

    • Author(s)
      Derbew Yenet Bogale, 仁田佳宏, Mohamad Najib Albebrawi, 張天, 石田正美
    • Organizer
      日本建築学会大会(北陸)
    • Related Report
      2019 Research-status Report
  • [Presentation] Developing UGV for Construction Site2019

    • Author(s)
      Derbew Yenet Bogale, Yoshihiro Nitta, Yorimasa Kuba
    • Organizer
      第62回自動制御連合講演会
    • Related Report
      2019 Research-status Report

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Published: 2018-04-23   Modified: 2022-01-27  

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