| 研究課題/領域番号 |
21K14121
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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 – 2024-03-31
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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 |
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| 研究実績の概要 |
This research proposes the use of "invisible maps" to enable reliable and low-cost localization on existing robots in dense crowds and dynamic environments. A major challenge to making this technology widely adopted is that the memory/computational cost required for large-scale mapping can be prohibitive. An additional challenge when considering the long-term deployment of robots is map maintenance.
This year, extensive data collection has been performed using the devices developed the prior year. This data will be compared to similar data to be acquired the next year, to enable long-term performance comparisons, in particular localization accuracy degradation when using older maps.
This year's main focus has been on the creation of large-scale and long-term maps. Using both adaptive grid mapping and data compression, a method has been developed which allows for large-scale invisible map creation even using low-spec computers. Long-term mapping has been achieved by developing an algorithm that can update the likelihood of changes per grid on a map. If the likelihood surpasses a set threshold, the system starts favoring newer information. Both methods are compatible and combined, enable large-scale, long-term mapping.
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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
FY2021's limited access to resources and locations at times, caused a delay in data collection. This has been compensated in FY2022. To enable comparison of data from multiple years, additional efforts on data collection will be placed in FY2023.
While research on long-term mapping progressed as planned, the lack of data from FY2021 has delayed proper analysis of results and their publication. Additional efforts on FY2023 will be placed to compensate for this.
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| 今後の研究の推進方策 |
Data acquisition will continue next year, but more focus will be placed on publishing of research results and its dissemination
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| 次年度使用額が生じた理由 |
Incurring amount will be used to increase the amount of on-site experimental testing, maintenance of equipment, and resume national and international travel for conference presentations which was halted due to COVID-19
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