| Project/Area Number |
24500288
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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 |
Sensitivity informatics/Soft computing
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| Research Institution | Konan University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
WADA Masahiro 甲南大学, 知能情報学部, 准教授 (80330405)
UMETANI Tomohiro 甲南大学, 知能情報学部, 准教授 (10397630)
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| Co-Investigator(Renkei-kenkyūsha) |
ITO Minoru 舞鶴工業高等専門学校, 准教授 (70411840)
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2013: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2012: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | 移動ロボット / 自己位置推定 / レーザー距離センサー / 状態推定 / 粒子フィルタ / センサー / ソフトコンピューティング / ファジィ制御 / 路面検知 / RTミドルウェア |
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| Outline of Final Research Achievements |
This research aims to develop models and software library including soft-computing techniques for mobile robots. By creating an environmental map in advance, we developed various algorithms such as initial position estimation, localization while moving, ground surface detection, obstacle detection, path selection and fuzzy control, and we can supply our library to interested researchers.
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