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Cooperative control of multiple neural networks for an indoor blimp robot

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Abstract

We report on the cooperative control of multiple neural networks for an indoor blimp robot. In our research group, the indoor blimp robot has been studied to achieve various flying robot applications. The objective of this article is to propose a robust controller that can adapt to mechanical accidents such as the breakdown of propellers. In our proposed method, each propeller thrust is independently calculated by a small neural network. We confirm the advantage of the proposed method against the control by a single large neural network.

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References

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Author information

Authors and Affiliations

  1. Graduate School of Information Science and Technology, Hokkaido University, North 14, West 8, Kita-ku, Sapporo, 060-8628, Japan

    Hidenori Kawamura & Azuma Ohuchi

  2. Ricoh Software Inc., Tokyo, Japan

    Toshihiko Takaya

  3. Graduate School of Information Science & Technology, Osaka University, Osaka, Japan

    Hiroyuki Iizuka

Authors
  1. Hidenori Kawamura
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  2. Hiroyuki Iizuka
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  3. Toshihiko Takaya
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  4. Azuma Ohuchi
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Corresponding author

Correspondence to Hidenori Kawamura.

Additional information

This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008

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Kawamura, H., Iizuka, H., Takaya, T. et al. Cooperative control of multiple neural networks for an indoor blimp robot. Artif Life Robotics 13, 504–507 (2009). https://doi.org/10.1007/s10015-008-0604-7

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  • DOI: https://doi.org/10.1007/s10015-008-0604-7

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