Abstract
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 outdoor environment. 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 outdoor environment and performs better than a well tuned PID controller does.
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Sato, M., Kanda, A., Ishii, K. (2009). A Neural Network Based Controller for an Outdoor Mobile Robot. In: Köppen, M., Kasabov, N., Coghill, G. (eds) Advances in Neuro-Information Processing. ICONIP 2008. Lecture Notes in Computer Science, vol 5506. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02490-0_94
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DOI: https://doi.org/10.1007/978-3-642-02490-0_94
Publisher Name: Springer, Berlin, Heidelberg
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