2P2-D16 ニューラルネットワークコントローラの不整地走行ロボットへの適用と実機検証 : 第3報 : ニューラルネットワークを用いた制御パラメータの決定(車輪移動ロボット)

概要

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A wheeled mobile mechanism with a passive and/or active linkage mechanism for rough terrain environment is developed and evaluated. In our previous research, we developed a switching controller system for wheeled mobile robots in rough terrain. In this paper, we focus on the decision of controller parameters using hyperplane of adjusted neural network. Our proposed controller shows almost same performance of adjusted neural network controller in the experiments of the climbing over the stairs, even though that controller consists of less parameter than neural network controller. And also, that controller shows better performance than well-tuned PID controller.
一般社団法人日本機械学会の論文
2008-06-06