A Controller Design Method Based on a Neural Network for an Outdoor Mobile Robot
A wheeled mobile mechanism with a passive and/or active linkage mechanism for travel in rough terrain is developed and evaluated. In our previous research, we developed a switching controller system for wheeled mobile robots in rough terrain. This system consists of two sub-systems: an environment recognition system using a self-organizing map and an adjusted control system using a neural network. In this paper, we propose a new controller design method based on a neural network. The proposed method involves three kinds of controllers: an elementary controller, adjusted controllers, and simplified controllers. In the experiments, our proposed method results in less oscillatory motion in rough terrain and performs better than a well tuned PID controller does.
wheeled mobile robot outdoor environment neural network control design
Masanori Sato Atushi Kanda Kazuo Ishii
Fukuoka Industry, Science and Technology Foundation, Kitakyushu 808-0196, Japan Kyushu Institute of Technology, Kitakyushu 808-0196, Japan
国际会议
第二届国际仿生工程会议(The International Conference of Bionic Engineering 2008)(ICBE08)
长春
英文
130-137
2008-10-10（万方平台首次上网日期，不代表论文的发表时间）