| Project/Area Number |
25630396
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Aerospace engineering
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| Research Institution | Japan Aerospace Exploration Agency |
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Principal Investigator |
MASATSUGU Otsuki 独立行政法人宇宙航空研究開発機構, 宇宙科学研究所, 助教 (50348827)
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| Project Period (FY) |
2013-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2014: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2013: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
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| Keywords | コストマップ / 環境認識 / ローバテストベッド / けん引力推定 / 慣性基準装置 / マストジンバル機構 / 高感度カメラ |
|---|
| Outline of Final Research Achievements |
This study mainly focused on building the procedure to make the costmap with multiple domain. First, the test bed rover was manufactured and it has the multiple sensors for recognition of environments, which are employed to take optical images, to measure contact force of each moving mechanism and to observe external thermal condition. The field test using it to acquire simultaneously the environmental states was performed; as the result, the elementary environmental data, which can sequentially be superpositioned, was obtained; however, it was recognized that the adequate superposition method for the costmap with considering the intention of a designer and the identity of time and space is one of agendas.
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