| Project/Area Number |
23360115
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kyushu University |
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Principal Investigator |
KURAZUME Ryo 九州大学, システム情報科学研究科(研究院, 教授 (70272672)
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| Co-Investigator(Kenkyū-buntansha) |
HASEGAWA Tsutomu 九州大学, 大学院・システム情報科学研究院, 名誉教授 (00243890)
MOROOKA Ken'ichi 九州大学, 大学院・システム情報科学研究院, 准教授 (80323806)
IWASHITA Yumi 九州大学, 大学院・システム情報科学研究院, 助教 (70467877)
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| Project Period (FY) |
2011-04-01 – 2014-03-31
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥17,810,000 (Direct Cost: ¥13,700,000、Indirect Cost: ¥4,110,000)
Fiscal Year 2013: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2012: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2011: ¥8,060,000 (Direct Cost: ¥6,200,000、Indirect Cost: ¥1,860,000)
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| Keywords | ロボティクス / 環境モデリング / ３次元計測 / レーザ計測 / 群ロボット / 環境情報構造化 / 3次元計測 |
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| Research Abstract |
In this research, we applied the CPS-SLAM (Cooperative Positioning System - Simultaneous Localization and Mapping) technology, which has been developed for digital archive of cultural heritages, for the construction of a precise map for an outdoor mobile robot, and developed a fully automated multi-dimensional map construction system for a robot by a robot. To develop the proposed system, we conducted the following research topics: 1) automatic planning of cooperative positioning system (CPS), 2) development of high precision measurement system, 3) development of mobile platform for long distance measurement, 4) automatic planning of laser measurement strategy, and 5) construction of multi-dimensional environmental map including dynamic change.
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