权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

Cooperation Control Platform of Micro-Robots Implemented LiDAR System

微型机器人协作控制平台实现激光雷达系统

基本信息

批准号：
22K03985
负责人：
長澤純人
金额：
$ 2.66万
依托单位：
Shibaura Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2022
资助国家：
日本
起止时间：
2022-04-01 至 2025-03-31
项目状态：
未结题

项目摘要

本研究は以下の３つの研究項目を柱として，効率的に研究を実施している．本年度の成果は審査付英文論文2本，国際学会発表３件，国内学会発表２件で発表された．【１】マイクロロボット用の組込型LiDARの開発：　IMU (Inertial measurement unit) で時々刻々のロボットの姿勢を推定し，その姿勢推定に合わせてLiDARで測定した2次元の深度測定値を補正する実験と評価を実施している．非常に小型で我々の小型多脚ロボットにも搭載可能なToF式レーザ距離センサ (VL53L1X) から得られた距離とIMUから得られたヨー角から直交座標系に変換，2次元での点群描画するシステムを構築した．取得した空間情報の類似度測定は，相互相関関数を計算して定量的に評価を行った．【２】MEMS積層静電型の角度センサのアクチュエータ化：　積層静電型の角度センサは折紙構造のロボットフレームと一緒に一枚のPCBシートから折り上げて製作する．積層静電型の角度センサは，静電容量変化から角度を推定可能で，モータと組合せて角度フィードバック制御に成功した（原・長澤ら, JJAP, 2021）．小型多脚ロボット適用のため，SMA（形状記憶合金ワイヤ）による駆動でもフィードバック制御を実現した．【３】アプリケーション開発のためのミドルウェア実装：　自己設計の中型多脚ロボットにLiDARとIMUを搭載し，ROSによるSLAM (Simulutanious Localization and Mapping) の検証を実施している．クローラ駆動の移動ロボットにも同じハードウェア構成でLiDARを搭載し，多脚移動のSLAMへ影響を定量評価した．組込みMPUなどの処理能力が限定的なシステムでも信頼性の高い遠隔通信・計測・制御を行うXRCE-DDSを動作させるため，これに対応するROS2の導入を進めている．

In this study, the following 3-year research projects are successful, and the results of this year are 2 copies of English papers, 3 tables of the International Society and 2 tables of the domestic Society. [1] the following three research projects are successful, and the results of this year are in English, the International Society has three tables, and the domestic Society has two tables. [1] the following three research projects are successful, and the results of this year are published in English, three tables of the International Society of International Studies, and two tables of the International Society. [1] the organization model LiDAR is used in this study: IMU (Inertial measurement unit). The presumption of attitude, the combination of LiDAR, the determination of 2-dimensional depth measurement, the correct depth measurement, the correct depth measurement, the normal depth measurement, the small multi-legged, multi-legged, The two-dimensional point group drawing shows that there is a difference between two dimensions. To obtain the similarity test of spatial information. Mutual correlation calculation. [2] MEMS active static electricity angle conversion angle conversion: active static electricity angle conversion. It is possible that the angle of static electricity is presumed to be inferred by the angle of static electricity, which can be inferred by the angle of one PCB. The small multi-legged bridge is used to control the success of the equipment (formerly long leg, JJAP, 2021). SMA (shape memory alloy device) system is used to control the operation of the machine. [3] do not start the operation of the machine. [3] use your own design of a medium-sized multi-legged vehicle, such as a LiDAR truck, an IMU machine. The ROS system SLAM (Simulutanious Localization and Mapping) is responsible for the monitoring of communication. The movement of the vehicle is the same as that of the LiDAR, and the multi-legged movement of the SLAM has an effect on quantitative monitoring. The organization is responsible for the limited performance of the MPU system, the communication security, the communication separation, the security, the monitoring, the communication, the communication, the trust, the communication, the trust, the communication, the communication, the communication It is important to check in to ROS2 for further information.