| Project/Area Number |
20700155
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Kanazawa University |
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Principal Investigator |
SUGANUMA Naoki Kanazawa University, 機械工学系, 講師 (50361978)
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| Project Period (FY) |
2008 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2010: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2009: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2008: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Keywords | センサ融合・統合 / Plug-and-Playセンサ / 自己位置姿勢推定 / 移動ロボット / センサフュージョン / キャリブレーション / Plug-and-Play / 分散型状態推定 / 自己診断 |
|---|
| Research Abstract |
Localization is one of the most important basic technology for mobile robot. A most suitable sensor to various type of mobile robot depends on kind of robot and environment where the mobile robot works. Therefore, the specialist must select and install the most suitable sensors to the robot considering robustness and economic efficiency, and localizing estimator suitable for these sensors must be taken into account. Moreover, there is a problem that the specialist must calibrate sensor parameters before using the robot. So, in this research, safe, secure, and reliable"Plug-and-Play"type localization method, which the general user can flexibly select and install sensors, is developed as a next generation localization method of the mobile robot.
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