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Motion Planning for Effective and Robust Domestic Sweep Robot using Competitive Co-evolution

Research Project

Project/Area Number 22700204
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Perception information processing/Intelligent robotics
Research InstitutionTokyo Metropolitan University

Principal Investigator

CHIBA Ryousuke  首都大学東京, システムデザイン研究科, 助教 (80396936)

Project Period (FY) 2010 – 2011
Project Status Completed (Fiscal Year 2011)
Budget Amount *help
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2011: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2010: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Keywords掃除ロボット / 掃引作業 / 競争的共進化 / 行動計画 / 共進化
Research Abstract

Recently, domestic work by the autonomous mobile robot has been achieved. However, it is difficult to achieve their works appropriately with advanced planning in a dynamic and unknown working environment. In this research, a competitive co-evolution algorithm is proposed for composing a robust action planning equipment. With this proposal method, action planning equipment is improved in the style of having been suitable for environment. by contrast, working environment is corrupted so that it becomes difficult environment for a robot. The effectiveness of the proposed method is shown by acquiring a robust action planning equipment against various working environment with simulation.

Report

(3 results)
  • 2011 Annual Research Report   Final Research Report ( PDF )
  • 2010 Annual Research Report
  • Research Products

    (26 results)

All 2012 2011 2010 Other

All Journal Article (1 results) (of which Peer Reviewed: 1 results) Presentation (25 results)

  • [Journal Article] Flow Path Network Design for Robust AGV Systems Against Tasks Using Competitive Coevolution2011

    • Author(s)
      Ryosuke Chiba, Tamio Arai, Jun Ota
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 4 Pages: 475-484

    • Related Report
      2011 Final Research Report 2010 Annual Research Report
    • Peer Reviewed
  • [Presentation] 競争的共進化アルゴリズムによるロバストな家庭内掃引作業のための行動計画法の提案2012

    • Author(s)
      磯崎雄一, 千葉龍介, 森泰親
    • Organizer
      平成24年電気学会全国大会
    • Place of Presentation
      広島工業大学五日市キャンパス
    • Year and Date
      2012-03-23
    • Related Report
      2011 Annual Research Report
  • [Presentation] 生活支援のためのSURFを用いた物体給士ロボットシステムの提案2012

    • Author(s)
      青木翔平, 千葉龍介, 森泰親
    • Organizer
      平成24年電気学会全国大会
    • Place of Presentation
      広島工業大学五日市キャンパス
    • Year and Date
      2012-03-23
    • Related Report
      2011 Annual Research Report
  • [Presentation] 競争的共進化アルゴリズムによるロバストな家庭内掃引作業のための行動計画法の提案2012

    • Author(s)
      磯崎雄一,千葉龍介,森泰親
    • Organizer
      平成24年電気学会全国大会
    • Related Report
      2011 Final Research Report
  • [Presentation] 位相シフト法を用いたレール形状測定システムの提案2011

    • Author(s)
      戸塚章一郎, 千葉龍介, 森泰親, 青木翔平, 太田賢一, 小山愛
    • 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講演会SI2011
    • Place of Presentation
      京都大学吉田キャンパス
    • Year and Date
      2011-12-25
    • Related Report
      2011 Annual Research Report
  • [Presentation] Homography分解を用いた画像変化を考慮した生活支援のための物体給仕システム2011

    • Author(s)
      青木翔平, 千葉龍介, 森泰親
    • Organizer
      第4回横幹連合コンファレンス
    • Place of Presentation
      石川ハイテク交流センター
    • Year and Date
      2011-11-29
    • Related Report
      2011 Annual Research Report
  • [Presentation] 遺伝的アルゴリズムを用いたロボットの家庭内掃引作業における困難な環境の発見2011

    • Author(s)
      磯崎雄一, 千葉龍介, 森泰親
    • Organizer
      平成23年電気学会電子・情報・システム部門大会
    • Place of Presentation
      富山大学
    • Year and Date
      2011-09-08
    • Related Report
      2011 Annual Research Report
  • [Presentation] Establishment of a Function Embodiment Knowledge Base for Supporting Service Design2011

    • Author(s)
      Yutaro Nemoto, Fumiya Akasaka, Ryosuke Chiba, Yoshiki Shimomura
    • Organizer
      2011 Asian Conference on Design and Digital Engineering (ACDDE 2011)
    • Place of Presentation
      Shanghai, China
    • Year and Date
      2011-08-27
    • Related Report
      2011 Annual Research Report
  • [Presentation] Contents Parameter Design using Multi-Objective Particle Swarm Optimization for Service Improvement2011

    • Author(s)
      Rryosuke Chiba, Fumiya Akasaka, Takeshi Tateyama, Kentaro Watanabe, Yoshiki Shimomura
    • Organizer
      the 44th CIRP Conference on Manufacturing Systems
    • Place of Presentation
      Madison, Wisconsin, USA
    • Year and Date
      2011-06-01
    • Related Report
      2011 Annual Research Report
  • [Presentation] Establishment of a Function Embodiment Knowledge Base for Supporting Service Design2011

    • Author(s)
      Yutaro Nemoto, Fumiya Akasaka, Ryosuke Chiba, Yoshiki Shimomura
    • Organizer
      Asian Conference on Design and Digital Engineering(ACDDE 2011)
    • Related Report
      2011 Final Research Report
  • [Presentation] 遺伝的アルゴリズムを用いたロボットの家庭内掃引作業における困難な環境の発見2011

    • Author(s)
      磯崎雄一,千葉龍介,森泰親
    • Organizer
      平成23年電気学会電子・情報・システム部門大会
    • Related Report
      2011 Final Research Report
  • [Presentation] Homography分解を用いた画像変化を考慮した生活支援のための物体給仕システム2011

    • Author(s)
      青木翔平,千葉龍介,森泰親
    • Organizer
      第4回横幹連合コンファレンス
    • Related Report
      2011 Final Research Report
  • [Presentation] 位相シフト法を用いたレール形状測定システムの提案2011

    • Author(s)
      戸塚章一郎,千葉龍介,森泰親,青木翔平,太田賢一,小山愛
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会(SI2011)
    • Related Report
      2011 Final Research Report
  • [Presentation] SURFマッチングを用いた物体の三次元位置計測における閾値自動調整法2010

    • Author(s)
      青木翔平, 千葉龍介, 森泰親
    • Organizer
      計測自動制御学会第10回システムインテグレーション部門講演会(SI2010)
    • Place of Presentation
      東北大学川内キャンパス
    • Year and Date
      2010-12-24
    • Related Report
      2010 Annual Research Report
  • [Presentation] ヒトの起立姿勢制御に関する多感覚と筋活動との関係の調査2010

    • Author(s)
      小川広晃, 千葉龍介, 高草木薫, 淺間一, 太田順
    • Organizer
      計測自動制御学会第10回システムインテグレーション部門講演会(SI2010)
    • Place of Presentation
      東北大学川内キャンパス
    • Year and Date
      2010-12-23
    • Related Report
      2010 Annual Research Report
  • [Presentation] サービス工学における多目的最適化によるコンテンツパラメータ設計2010

    • Author(s)
      千葉龍介, 赤坂文弥, 舘山武史, 渡辺健太郎, 下村芳樹
    • Organizer
      Designシンポジウム2010
    • Place of Presentation
      産業技術大学院大学
    • Year and Date
      2010-11-25
    • Related Report
      2010 Annual Research Report
  • [Presentation] Neural Network Estimation of LAL/VPC Resions of Silkmoth using Genetic Algorithm2010

    • Author(s)
      Ryosuke Chiba, Sunao Hashimoto, Tomoki Kazawa, Ryohei Kanzaki, Jun Ota
    • Organizer
      International Conference on Intelligent Robots and Systems (IROS 2010)
    • Place of Presentation
      Taipei, Taiwan
    • Year and Date
      2010-10-20
    • Related Report
      2010 Annual Research Report
  • [Presentation] LAL-VPC領域のモデル化と進化計算によるカイコガの神経回路網の推定2010

    • Author(s)
      千葉龍介, 橋本素直, 加沢知毅, 神崎亮平, 太田順
    • Organizer
      第20回インテリジェント・システム・シンポジウム(FAN2010/iFAN2010)
    • Place of Presentation
      首都大学東京
    • Year and Date
      2010-09-26
    • Related Report
      2010 Annual Research Report
  • [Presentation] Contents Quality Design Considering Corporate Resource with Service Engineering2010

    • Author(s)
      Ryosuke Chiba, Fumiya Akasaka, Yoshiki Shimomura, Takeshi Tateyama, Tamio Arai
    • Organizer
      the 11th International Design Conference
    • Place of Presentation
      Dubrovnik, Croatia
    • Year and Date
      2010-05-20
    • Related Report
      2010 Annual Research Report
  • [Presentation] Neural Network Estimation of LAL/VPC Resions of Silkmoth using Genetic Algorithm2010

    • Author(s)
      Ryosuke Chiba, Sunao Hashimoto, Tomoki Kazawa, Ryohei Kanzaki, Jun Ota
    • Organizer
      International Conference on Intelligent Robots and Systems(IROS 2010)
    • Related Report
      2011 Final Research Report
  • [Presentation] Tamio Arai Contents Quality Design Considering Corporate Resource with Service Engineering2010

    • Author(s)
      Ryosuke Chiba, Fumiya Akasaka, Yoshiki Shimomura, Takeshi Tateyama
    • Organizer
      the 11th International Design Conference
    • Related Report
      2011 Final Research Report
  • [Presentation] LAL-VPC領域のモデル化と進化計算によるカイコガの神経回路網の推定2010

    • Author(s)
      千葉龍介,橋本素直,加沢知毅,神崎亮平,太田順
    • Organizer
      第20回インテリジェント・システム・シンポジウム(FAN2010/iFAN2010)
    • Related Report
      2011 Final Research Report
  • [Presentation] ヒトの起立姿勢制御に関する多感覚と筋活動との関係の調査2010

    • Author(s)
      小川広晃,千葉龍介,高草木薫,淺間一,太田順
    • Organizer
      計測自動制御学会第10回システムインテグレーション部門講演会(SI2010)
    • Related Report
      2011 Final Research Report
  • [Presentation] SURFマッチングを用いた物体の三次元位置計測における閾値自動調整法2010

    • Author(s)
      青木翔平,千葉龍介,森泰親
    • Organizer
      計測自動制御学会第10回システムインテグレーション部門講演会(SI2010)
    • Related Report
      2011 Final Research Report
  • [Presentation] サービス工学における多目的最適化によるコンテンツパラメータ設計2010

    • Author(s)
      千葉龍介,赤坂文弥,舘山武史,渡辺健太郎,下村芳樹
    • Organizer
      Designシンポジウム2010
    • Related Report
      2011 Final Research Report
  • [Presentation] Contents Parameter Design using Multi-Objective Particle Swarm Optimization for Service Improvement

    • Author(s)
      Rryosuke Chiba, Fumiya Akasaka, Takeshi Tateyama, Kentaro Watanabe, Yoshiki Shimomura
    • Organizer
      the 44th CIRP Conference on Manufacturing Systems
    • Related Report
      2011 Final Research Report

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Published: 2010-08-23   Modified: 2016-04-21  

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