成果報告書詳細
管理番号20100000002128
タイトル*平成21年度中間年報 戦略的先端ロボット要素技術開発プロジェクト 被災建造物内移動RTシステム(特殊環境用ロボット分野) 閉鎖空間内高速走行探査群ロボット
公開日2011/10/12
報告書年度2009 - 2009
委託先名独立行政法人産業技術総合研究所
プロジェクト番号P06023
部署名機械システム技術開発部
和文要約和文要約等以下本編抜粋:1. 研究開発の内容および成果等 (1) メッシュ型群移動体3Dマップナビゲーションシステムと群移動体による環境情報の蓄積・統合マッピングおよび半自律操作のための実時間GIS技術の研究開発 本テーマでは、移動体によるセンシングおよびナビゲーションの統合で必要となる3次元空間離散地物の多様な情報を統一的・構造的に表現できるGIS技術の確立を目指している。本年度は、データベース上での大量のデータ登録と参照を実時間で利用可能とするためのデータ表現形式の設計、並びに、複数のロボットやセンサから登録されたデータをGIS上で一つの地図として統合するための座標系変換技術の改良を行った。
英文要約Title: NEDO Strategic Project on Advanced Robot Component Technology Development, Mobile RT Systems in Disaster Buildings (Special Purpose Robots), High-Speed Search Robots in Confined Space (FY2006-2010) FY2009 Annual Report
We redesigned a data representation format in order to enable us to register and/or refer a large data in real-time, and improved a coordinate system transformation technique in order to integrate map data, registered from several sources which has different coordinate systems, into an integrated global map. We improved our geographic information database system, DaRuMa, and implemented following functions and tools: Function to update several coordinate system transformation dynamically, Visualization system which can deal with both of local coordinate systems and an integrated global coordinate system, Communication protocol and programming library to cooperate with matching software, Data structure and visualization system to deal with three dimensional shape data effectively. We examined our functions and tools in the field experiments. In RoboCup2009 and Hyogo Prefectual Emergency Management and Training Center, we succeeded to generate an integrated global map from three dimensional scan data gathered by several robots. In these experiments, we adopted DEM(Digital Elevation Map) format to register scan data to our database. DEM format can reduce the amount of information and is suitable to generate a two dimensional map. Registered scan data is transferred to a matching software and a matching software returns information of coordinate system transformation to our database. Our visualization system could show an integrated map data using this information. From these experiments, we confirmed data representation using DEM format and cooperation with a matching software are effective for two dimensional integrated map generation. In Disaster City, we examined our three dimensional map generation system. We redesigned a data representation method which utilizes existing three dimensional shape formats, in order to deal with a large amount of three dimensional data. We can easily reuse registered three dimensional data with this data representation method. In this experiment, we could register about one hundred thousand point data continuously, and could visualize them online.
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