Building the autonomous mobile robot to navigate in the various real environment

构建自主移动机器人以在各种真实环境中导航

• 批准号: 15300052
• 负责人: YUTA Shinichi
• 金额: $ 8.96万
• 依托单位: University of Tsukuba
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2003
• 资助国家: 日本
• 起止时间: 2003 至 2006
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-15300052/
• 关键词: mobile robot; autonomous navigation; SOKUIKI sensor; laser range finder; self-position estimation; obstacle avoidance; robot controller; 自律移動ロボット; ナビゲーション; スキャニングレンジセンサ

In this research, we aimed to research and develop the autonomous mobile robot which can navigate in the various real environment in the city. The robot should cope with the people walking the street, and realize the ability to reach to the destination while keeping the safety.For this purpose, we designed and developed a real mobile robot system to verify the developed methodology, and, researched on the1. The architecture to build the mobile robot, and the basic method of control.2. Map making by the robot using the sensor information got by the robot itself.3. Coordination of the control of sensor reflective motion and pre-planned motionAs the important results of this research term, we have to emphasis the development of small size scanning laser range sensor which is the product of the collaboration with the company. We took an important part in defining the user interface commands. This sensor is named SOKUIKI sensor by us and now used widely not only in Japan but also in the world for the mobile robots for the environment recognition to avoid obstacles or to know its own position.Another important result is the organization and steering of Tsukuba Challenge, which is the open challenge event to test the ability of the mobile robot in the real world We defined the 1km route in Tsukuba city pedestrian street. Fortunately, two robots from our group could complete 11km autonomous travel by our own designed autonomous mobile robots.

本研究的目的是研究和开发能够在城市中各种真实的环境中自主导航的移动的机器人。为了实现机器人能够在保证安全的前提下，顺利到达目的地，设计并开发了一个真实的移动的机器人系统，对所提出的方法进行了验证。建立了移动的机器人的体系结构，以及基本的控制方法.利用机器人自身获取的传感器信息进行地图绘制.传感器反射运动和预定运动控制的协调作为本课题的重要成果，我们必须强调的是与该公司合作的产品小尺寸扫描激光测距传感器的开发。我们在定义用户界面命令时扮演了重要的角色。这种传感器被我们命名为SOKUIKI传感器，现在不仅在日本，而且在世界上广泛应用于移动的机器人的环境识别，以避免障碍物或知道自己的位置。另一个重要的结果是组织和转向筑波挑战赛，这是一个开放的挑战事件，以测试移动的机器人在真实的世界中的能力。幸运的是，我们小组的两个机器人可以通过我们自己设计的自主移动的机器人完成11公里的自主旅行。

项目成果

Advanced Functions for "SOKUIKIS" Sensor Applied to Mobile Robots

应用于移动机器人的“SOKUIKIS”传感器的高级功能

• 发表时间: 2006
• 期刊: Proceedings of the IEEE Int'1 Conf.on Multisensor Fusion and Integration for Intelligent Systems
• 作者: Hirohiko Kawata;Satofumi Kamimura;Akihisa Ohya;Jun'ich Iijima;Shin'ich Yuta
• 通讯作者: Shin'ich Yuta

Mobile SOKUIKI Sensor System : Accurate Range Data Mapping System with Sensor Motion

• 发表时间: 2006
• 期刊: Journal of the Chemical Society, Faraday Transactions
• 作者: Tatsuro Ueda;H. Kawata;T. Tomizawa;A. Ohya

Development of Ultra-Small Lightweight Optical Range Sellsor System

超小型轻型光学测距仪系统的开发

• 发表时间: 2005
• 期刊: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS)2005
• 作者: Hirohiko Kawata;Wagle Santosh;Toshihiro Mori;Akihisa Ohya;Shin'ichi Yuta
• 通讯作者: Shin'ichi Yuta

A People-Localization Method for Multi-Robot Systems:First Approach for Guidillg-Tours

多机器人系统的人员定位方法:Guidillg-Tours的第一种方法

• 发表时间: 2004
• 期刊: International Journal of Advanced Robotic Systems Vol.1 No.3
• 作者: Edgar Martinez-Garcia;Akihisa Ohya;Shin'ichi Yuta
• 通讯作者: Shin'ichi Yuta

Design and Realization of 2-Dimensional Optical Range Sensor for Environment Recognition in Mobil Robots

美孚机器人环境识别二维光学距离传感器的设计与实现

• 发表时间: 2005
• 期刊: Journal of Robotics and Mechatronics Vol.17 No.2
• 作者: Hirohiko Kawata;Toshihiro Mori;Shin'ichi Yuta
• 通讯作者: Shin'ichi Yuta