| 研究課題/領域番号 |
21K14121
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| 研究種目 |
若手研究
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| 配分区分 | 基金 |
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| 審査区分 |
小区分20020:ロボティクスおよび知能機械システム関連
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| 研究機関 | 宇都宮大学 |
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研究代表者 |
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| 研究期間 (年度) |
2021-04-01 – 2025-03-31
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| 研究課題ステータス |
交付 (2023年度)
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| 配分額 *注記 |
4,680千円 (直接経費: 3,600千円、間接経費: 1,080千円)
2023年度: 910千円 (直接経費: 700千円、間接経費: 210千円)
2022年度: 1,430千円 (直接経費: 1,100千円、間接経費: 330千円)
2021年度: 2,340千円 (直接経費: 1,800千円、間接経費: 540千円)
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| キーワード | 自律移動ロボット / 不可視地図 / ドメイン適応 / 確率ロボティクス / 長期地図作成 |
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| 研究開始時の研究の概要 |
Wireless signal strength and magnetic disturbances are not affected by most dynamic obstacles. Using this "invisible data" a novel approach is proposed that can enable long-term autonomous navigation to robots equipped with low-cost sensors, even in dense crowds and dynamic environments.
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| 研究実績の概要 |
This year, all algorithms necessary to create invariant maps and long-term mapping have been finalized and tested. Using the robot platform and sensors developed, we have also built datasets composed of wireless signal strength, magnetic strength, lidar, and ground truth (pose of the robot). Datasets will be made available to the public to foster continued research efforts from the research community. Datasets include data acquired from the surroundings of Utsunomiya University, Tsukuba City, and large commercial complexes in Tokyo, Utsunomiya, Osaka, and Kanagawa; during the span of the whole project.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
Development and testing of algorithms to create invariant and long-term maps have been successfully finalized.
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| 今後の研究の推進方策 |
As development has been finalized, all further efforts will focus on additional testing and publication of results.
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