| Project/Area Number |
23560305
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Doshisha University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
SUGANUMA Naoki 金沢大学, 機械工学系, 講師 (50361978)
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| Co-Investigator(Renkei-kenkyūsha) |
TAKAHASHI Kazuhiko 同志社大学, 理工学部, 教授 (90332808)
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| Project Period (FY) |
2011 – 2013
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2013: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2012: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2011: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Keywords | パーソナルモビリティ / 移動ロボット / マルチロボット / 移動物体追跡 / レーザスキャナ / センサフュージョン / ベイズフィルタ / レーザレンジファインダ / ビジョン |
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| Research Abstract |
As a fundamental study to achieve safe and comfortable mobility using personal mobility robots and devices for the disabled and elderly, we (1)studied in tracking of moving objects, such as people, cars, and bicycles, by fusing sensor data from multiple robots located in vicinity, even in environments where occlusions often occur, (2)improved the dependability of the tracking system so that it can maintain accurate tracking even when sensor anomalies occurs, and (3)evaluated the proposed tracking system through simulations and experiments using mobile robots’ platform equipped with laser scanner.
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