Motion Planning for Effective and Robust Domestic Sweep Robot using Competitive Co-evolution
| Project/Area Number |
22700204
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Tokyo Metropolitan University |
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Principal Investigator |
CHIBA Ryousuke 首都大学東京, システムデザイン研究科, 助教 (80396936)
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| Project Period (FY) |
2010 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
|
| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2011: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2010: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | 掃除ロボット / 掃引作業 / 競争的共進化 / 行動計画 / 共進化 |
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| Research Abstract |
Recently, domestic work by the autonomous mobile robot has been achieved. However, it is difficult to achieve their works appropriately with advanced planning in a dynamic and unknown working environment. In this research, a competitive co-evolution algorithm is proposed for composing a robust action planning equipment. With this proposal method, action planning equipment is improved in the style of having been suitable for environment. by contrast, working environment is corrupted so that it becomes difficult environment for a robot. The effectiveness of the proposed method is shown by acquiring a robust action planning equipment against various working environment with simulation.
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Report
(3 results)
Research Products
(26 results)
