Essentially improvement of SLAM's accuracy by constructing theoretical error model of sensing and movement

2016 Fiscal Year Final Research Report

• Project/Area Number: 26420408
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Control engineering/System engineering
• Research Institution: Hokkaido University
• Principal Investigator: EMARU Takanori 北海道大学, 工学研究院, 准教授 (30440952)
• 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)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: 知能ロボティックス / SLAM

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.

Free Research Field

ロボット工学