首页 | 本学科首页   官方微博 | 高级检索  
   检索      


A Switching Controller System for a Wheeled Mobile Robot
Authors:Masanori Sato  Atushi Kanda  Kazuo Ishii
Institution:

aDepartment of Brain Science and Engineering, Kyushu Institute of Technology, Kitakyushu 808–0196, Japan

Abstract:A wheeled mobile mechanism with a passive and/or active linkage mechanism for rough terrain environment is developed and evaluated. The wheeled mobile mechanism which has high mobility in rough terrain needs sophisticated system to adapt various environments.We focus on the development of a switching controller system for wheeled mobile robots in rough terrain. This system consists of two sub-systems: an environment recognition system using link angles and an adaptive control system. In the environment recognition system, we introduce a Self-Organizing Map (SOM) for clustering link angles. In the adaptive controllers, we introduce neural networks to calculate the inverse model of the wheeled mobile robot.The environment recognition system can recognize the environment in which the robot travels, and the adjustable controllers are tuned by experimental results for each environment. The dual sub-system switching controller system is experimentally evaluated. The system recognizes its environment and adapts by switching the adjustable controllers. This system demonstrates superior performance to a well-tuned single PID controller.
Keywords:mobile robot  rough terrain  neural network  Self-Organizing Map
本文献已被 维普 万方数据 ScienceDirect 等数据库收录!
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号