Research on control of mobile robot cooperating with environment embedded sensors

环境嵌入式传感器配合移动机器人控制研究

• 批准号: 18360119
• 负责人: HASHIMOTO Hideki
• 金额: $ 10.72万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2006
• 资助国家: 日本
• 起止时间: 2006 至 2007
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18360119/
• 关键词: making space intelligent; intelligent space; distributed intelligent network device; mobile sensor; physical agent; mobile robot; sensor network; sensor fusion

In this research, we aimed to accomplish the cooperation of intelligent space and mobile robots. Here we call the space composed of distributed sensors and actuators, intelligent space.1. Design and implementation of intelligent space to construct a system with high flexibility and extensibilityWe constructed component-oriented intelligent space by making distributed devices into component using RT-middleware. We discussed about design guidelines of observation function and mobile robot navigation function of the intelligent space and successed to build a system easy to add, change or delete the sensor and disposition functions.2. Navigation of mobile robot using information from intelligent space and robot onboard sensorsTo realize assistance of mobile robot in intelligent space, we investigated mobile robot navigation method in living environment. At first, we proposed a method to obtain main pathway of the environment by observing human walking path in intelligent space. Next, we showed that mobile robot can perform efficient and natural movement by integrating information of main pathway and own position with surrounding obstacle information.3. Integration of informations observed by intelligent space and mobile robotWe proposed to use not only distributed sensors but robot onboard sensors. We also proposed method to integrate both informations efficiently to navigate mobile robot. First, we showed that tracking moving objects and construction of environment map can be done precisely by using integrated information. However, there was a problem that the computation and connection load increases because of correlation between measurement values. To solve this problem, we proposed fusion methods. Moreover, we proposed a method to obtain robot model using particle filter and integrating it into the system to accomplish improvement of robustness and expansion of applicable scope.

本研究旨在实现智能空间机器人与移动的机器人的协作。在这里，我们把由分布式传感器和执行器组成的空间称为智能空间。智能空间的设计与实现，构建具有高度灵活性和可扩展性的系统我们通过使用RT中间件将分布式设备组件化，构建了面向组件的智能空间。讨论了智能空间的观测功能和移动的机器人导航功能的设计准则，成功构建了一个易于添加、更改或删除传感器和配置功能的系统.利用智能空间和机器人机载传感器的信息进行移动的机器人导航为了实现智能空间中移动的机器人的辅助，我们研究了生活环境中的移动的机器人导航方法。首先提出了一种通过观察智能空间中人的行走路径来获取环境主路径的方法。其次，我们证明了移动的机器人可以通过整合主路径和自身位置的信息以及周围障碍物的信息来执行高效和自然的运动.智能空间和移动的机器人观测信息的集成我们提出不仅使用分布式传感器，而且使用机器人机载传感器。我们还提出了方法，有效地整合这两种信息导航移动的机器人。首先，我们表明，跟踪运动物体和环境地图的建设可以通过使用综合信息精确地完成。然而，由于测量值之间的相关性，存在计算和连接负荷增加的问题。为了解决这个问题，我们提出了融合方法。提出了一种利用粒子滤波器获取机器人模型的方法，并将其集成到系统中，以实现鲁棒性的提高和适用范围的扩大。

项目成果

Mobile Robot Navigation Based on Important Points Extracted from Human Observation

基于人类观察提取重要点的移动机器人导航

• 发表时间: 2008
• 期刊: SICE Journal of Control, Measurement, and System Integration Vol. 44, No. 4
• 作者: Takeshi Sasaki;Hideki Hashimoto
• 通讯作者: Hideki Hashimoto

A Simulation of Simultaneous Robots Detection Using CDMA in Ultrasonic Sign

超声标牌中CDMA机器人同步检测仿真

• 发表时间: 2007
• 作者: Qinhe Wang;橋本秀紀
• 通讯作者: 橋本秀紀

Position Control of Mobile Robot for Human-Following in Intelligent Space with Distributed Sensors

• 发表时间: 2006-04
• 期刊: International Journal of Control Automation and Systems
• 影响因子: 3.2
• 作者: Taeseok Jin;Jangmyung Lee;H. Hashimoto

Hybrid Tracking Based on Color Histogram for Intelligent Space

基于颜色直方图的智能空间混合跟踪

• 发表时间: 2007
• 期刊: Artificial Life and Robotics 11・2
• 作者: Kazuyuki Morioka;Joo-Ho Lee;Yoichi Kuroda;Hideki Hashimoto
• 通讯作者: Hideki Hashimoto

Tracking of Objects in Intelligent Space Using Laser Range Finders

使用激光测距仪跟踪智能空间中的物体

• 发表时间: 2006
• 作者: Drazen Brscic;Hideki Hashimoto
• 通讯作者: Hideki Hashimoto