2P2-D15 車輪型移動ロボットのための環境認識システム : 第2報 : 環境に応じた制御器の選択と未学習環境に対する環境認識性能(車輪移動ロボット)

概要

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Recently, various mechanisms have been developed combining linkage mechanisms and wheels. Especially passive linkage mechanisms and small wheel type robots are proposed, because a wheel type mobile mechanism has difficulty on the rough terrain movement. In our research, a 6-wheeled mobile robot employing the linkage mechanism has been developed to enhance maneuverability, and achieved climbing over a 0.20[m] height of bump. We designed controller using neural network for high energy efficiency. This controller has same performance with PID. In this paper, we propose environment recognition system for wheel type mobile robot on rough terrain environment. This system consists of multiple classification analyses. We compared with some methods.
一般社団法人日本機械学会の論文
2008-06-06