Essentially improvement of SLAM's accuracy by constructing theoretical error model of sensing and movement
| Project/Area Number |
26420408
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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 |
Control engineering/System engineering
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| Research Institution | Hokkaido University |
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Principal Investigator |
EMARU Takanori 北海道大学, 工学研究院, 准教授 (30440952)
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| Research Collaborator |
KOBAYASHI Yukinori 北海道大学, 大学院工学研究院, 教授 (10186778)
WANG Shuoyu 高知工科大学, 工学部, 教授 (90250951)
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| Project Period (FY) |
2014-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2016: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2014: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Keywords | 知能ロボティックス / SLAM / ロボティクス / ＳＬＡＭ |
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| Outline of Final Research Achievements |
The purpose of this research is essentially improvement of SLAM's accuracy by constructing theoretical error model of `sensing noise or error ' and `movement error which is occurred by slip or other factors'. In the research field of robotic mapping, simultaneous localization and mapping (SLAM) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it.
The results of this project are as follows: 1)We have made a theoretical model of sensing data and movement of mobile robot by considering physical characteristics of actual sensor and dynamics of mobile robot. 2)We have designed optimal norm and likelihood which minimize an influence of noise. The validity of the proposed strategy has been investigated by simulations and experiments using actual mobile robot.
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Report
(4 results)
Research Products
(69 results)
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[Presentation] A Geometric Path Smoother for Mobile Robots2016
Author(s)
Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru
Organizer
12th HU-SNU Joint Symposium on Mechanical and Aerospace Engineering
Place of Presentation
北海道大学（札幌市）
Year and Date
2016-12-19
Related Report
Int'l Joint Research
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[Presentation] Mapping of Pier Substructure Using UAV2016
Author(s)
Masaru Sakuma, Yukinori Kobayashi, Takanori Emaru and Ankit Ravankar
Organizer
IEEE/SICE International Symposium on System Integration
Place of Presentation
札幌コンベンションセンター（札幌市）
Year and Date
2016-12-13
Related Report
Int'l Joint Research
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[Presentation] Low-Cost IMU Calibration and Alignment2016
Author(s)
Jixin Lv, Ankit Ravankar, Yukinori Kobayashi and Takanori Emaru
Organizer
IEEE/SICE International Symposium on System Integration
Place of Presentation
札幌コンベンションセンター（札幌市）
Year and Date
2016-12-13
Related Report
Int'l Joint Research
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[Presentation] On Data Security in Service Robots2015
Author(s)
Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Takanori Emaru
Organizer
The 33rd annual conference of the Robotics Society of Japan
Place of Presentation
東京電機大学東京千住キャンパス
Year and Date
2015-09-03
Related Report
Int'l Joint Research
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