2007 Fiscal Year Final Research Report Summary
Mapping and the Usage for Mobile Robots in Semi-dynamic Environments using RFID Tags attached to the Semi-dynamic Objects
| Project/Area Number |
17500121
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Chuo University |
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Principal Investigator |
SAKANE Shigeaki Chuo University, Faculty of Science and Engineering, Professor (10276694)
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| Co-Investigator(Kenkyū-buntansha) |
ZHOU Hongjun Tokyo Metropolitan Industrial Technology Research Institute, IT Group, researcher (10384736)
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| Project Period (FY) |
2005 – 2007
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| Keywords | RFID tag / mobile robot / mapping / semi-dynamic obiect |
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| Research Abstract |
Mapping and localization play important roles for autonomous mobile robots. Since most of the conventional mapping methods assume static environments, the obtained map lacks reliability for localization when real environment violates the assumption. In this project, we dealt with mapping and localization in environments containing semi-dynamic objects such as cabinets with wheels, chairs, and doors, which can be moved occasionally. We proposed a robot system that utilizes RFID tags, attached to the semi-dynamic objects, and laser scan patterns. As for the processing algorithm, we developed SLAM-SD, an extended (SLAM Simultaneous Localization and Mapping) method for semi-dynamic environment, which allows simultaneous localization of a robot, mapping of the environment, and localization of semi-dynamic objects. The method can update an occupancy grid map properly when semi-dynamic objects have been moved. The experimental results show effectiveness of the proposed method.
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Research Products
(12 results)
