| 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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