2P2-E22 ニューラルネットコントローラの不整地走行ロボットヘの適用と実機検証

概要

論文の詳細を見る
The transportation using wheels is one of the most popular transportation mechanisms for mobile robots because its energy efficiency is high, the wheel mechanism is simple and the control system is well investigated. Therefore, the wheel type mobile robots are one of the most practical and widespread robots. However, the wheel type mobile robots have the difficulty in the rough terrain movement. In this research, a 6-wheeled mobile robot employing the linkage mechanism, "Zaurus", has been developed to extend maneuverability of wheel type mobile robots. In order to evaluate its maneuverability, the experiments to climb over a bump with twice height of diameter of the robot's wheel have been carried out. Neural Network and PID controllers are introduced as the control system and their performance are compared.
一般社団法人日本機械学会の論文