A Switching Controller System for a Wheeled Mobile Robot
A wheeled mobile mechanism with a passive and/or active linkage mechanism for rough terrain environment is developed and evaluated. The wheeled mobile mechanism which has high mobility in rough terrain needs sophisticated system to adapt various environments. We focus on the development of a switchi...
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| Veröffentlicht in: | Journal of bionics engineering 2007-12, Vol.4 (4), p.281-289 |
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| container_title | Journal of bionics engineering |
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| creator | Sato, Masanori Kanda, Atushi Ishii, Kazuo |
| description | A wheeled mobile mechanism with a passive and/or active linkage mechanism for rough terrain environment is developed and evaluated. The wheeled mobile mechanism which has high mobility in rough terrain needs sophisticated system to adapt various environments.
We focus on the development of a switching controller system for wheeled mobile robots in rough terrain. This system consists of two sub-systems： an environment recognition system using link angles and an adaptive control system. In the environment recognition system, we introduce a Self-Organizing Map （SOM） for clustering link angles. In the adaptive controllers, we introduce neural networks to calculate the inverse model of the wheeled mobile robot.
The environment recognition system can recognize the environment in which the robot travels, and the adjustable controllers are tuned by experimental results for each environment. The dual sub-system switching controller system is experimentally evaluated. The system recognizes its environment and adapts by switching the adjustable controllers. This system demonstrates superior performance to a well-tuned single PID controller. |
| doi_str_mv | 10.1016/S1672-6529(07)60042-0 |
| format | Article |
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We focus on the development of a switching controller system for wheeled mobile robots in rough terrain. This system consists of two sub-systems： an environment recognition system using link angles and an adaptive control system. In the environment recognition system, we introduce a Self-Organizing Map （SOM） for clustering link angles. In the adaptive controllers, we introduce neural networks to calculate the inverse model of the wheeled mobile robot.
The environment recognition system can recognize the environment in which the robot travels, and the adjustable controllers are tuned by experimental results for each environment. The dual sub-system switching controller system is experimentally evaluated. The system recognizes its environment and adapts by switching the adjustable controllers. This system demonstrates superior performance to a well-tuned single PID controller.</description><identifier>ISSN: 1672-6529</identifier><identifier>EISSN: 2543-2141</identifier><identifier>DOI: 10.1016/S1672-6529(07)60042-0</identifier><language>eng</language><publisher>Elsevier Ltd</publisher><subject>mobile robot ; neural network ; rough terrain ; Self-Organizing Map ; 神经网络 ; 移动机器人 ; 粗糙地形 ; 编辑技术</subject><ispartof>Journal of bionics engineering, 2007-12, Vol.4 (4), p.281-289</ispartof><rights>2007 Jilin University</rights><rights>Copyright © Wanfang Data Co. Ltd. All Rights Reserved.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c401t-839bf0c387a61ee45af4fe8004979f855544ffe49fccd75f311195f4c674bee03</citedby><cites>FETCH-LOGICAL-c401t-839bf0c387a61ee45af4fe8004979f855544ffe49fccd75f311195f4c674bee03</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Uhttp://image.cqvip.com/vip1000/qk/87903X/87903X.jpg</thumbnail><linktohtml>$$Uhttps://dx.doi.org/10.1016/S1672-6529(07)60042-0$$EHTML$$P50$$Gelsevier$$H</linktohtml><link.rule.ids>314,776,780,3536,27903,27904,45974</link.rule.ids></links><search><creatorcontrib>Sato, Masanori</creatorcontrib><creatorcontrib>Kanda, Atushi</creatorcontrib><creatorcontrib>Ishii, Kazuo</creatorcontrib><title>A Switching Controller System for a Wheeled Mobile Robot</title><title>Journal of bionics engineering</title><addtitle>Journal of Bionics Engineering</addtitle><description>A wheeled mobile mechanism with a passive and/or active linkage mechanism for rough terrain environment is developed and evaluated. The wheeled mobile mechanism which has high mobility in rough terrain needs sophisticated system to adapt various environments.
We focus on the development of a switching controller system for wheeled mobile robots in rough terrain. This system consists of two sub-systems： an environment recognition system using link angles and an adaptive control system. In the environment recognition system, we introduce a Self-Organizing Map （SOM） for clustering link angles. In the adaptive controllers, we introduce neural networks to calculate the inverse model of the wheeled mobile robot.
The environment recognition system can recognize the environment in which the robot travels, and the adjustable controllers are tuned by experimental results for each environment. The dual sub-system switching controller system is experimentally evaluated. The system recognizes its environment and adapts by switching the adjustable controllers. This system demonstrates superior performance to a well-tuned single PID controller.</description><subject>mobile robot</subject><subject>neural network</subject><subject>rough terrain</subject><subject>Self-Organizing Map</subject><subject>神经网络</subject><subject>移动机器人</subject><subject>粗糙地形</subject><subject>编辑技术</subject><issn>1672-6529</issn><issn>2543-2141</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2007</creationdate><recordtype>article</recordtype><recordid>eNqFkE1vEzEQhi0EEqHwE5BWHBA9bBl_e0-oigpUKkIiII4jrzNOXDbr1t5Q-u_ZNBVXTnN55n1nHsZeczjjwM37FTdWtEaL7h3YUwOgRAtP2EJoJVvBFX_KFv-Q5-xFrdcAuhNOLpg7b1Z3aQrbNG6aZR6nkoeBSrO6rxPtmphL45ufW6KB1s2X3KeBmm-5z9NL9iz6odKrx3nCfny8-L783F59_XS5PL9qgwI-tU52fYQgnfWGEynto4rk5hs720WntVYqRlJdDGFtdZSc805HFYxVPRHIE3Z6zL3zY_TjBq_zvoxzI8a6CX96JAFgYS6TM_v2yN6UfLunOuEu1UDD4EfK-4qSGxDOqhnURzCUXGuhiDcl7Xy5Rw54cIoPTvEgDMHig1M8HPPhuEfzx78TFawh0RhonQqFCdc5_TfhzWPzNo-b29k69j78irNXFEYY6xzIvyrTh50</recordid><startdate>20071201</startdate><enddate>20071201</enddate><creator>Sato, Masanori</creator><creator>Kanda, Atushi</creator><creator>Ishii, Kazuo</creator><general>Elsevier Ltd</general><general>Department of Brain Science and Engineering, Kyushu Institute of Technology, Kitakyushu 808-0196, Japan</general><scope>2RA</scope><scope>92L</scope><scope>CQIGP</scope><scope>W92</scope><scope>~WA</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>L7M</scope><scope>2B.</scope><scope>4A8</scope><scope>92I</scope><scope>93N</scope><scope>PSX</scope><scope>TCJ</scope></search><sort><creationdate>20071201</creationdate><title>A Switching Controller System for a Wheeled Mobile Robot</title><author>Sato, Masanori ; Kanda, Atushi ; Ishii, Kazuo</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c401t-839bf0c387a61ee45af4fe8004979f855544ffe49fccd75f311195f4c674bee03</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2007</creationdate><topic>mobile robot</topic><topic>neural network</topic><topic>rough terrain</topic><topic>Self-Organizing Map</topic><topic>神经网络</topic><topic>移动机器人</topic><topic>粗糙地形</topic><topic>编辑技术</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Sato, Masanori</creatorcontrib><creatorcontrib>Kanda, Atushi</creatorcontrib><creatorcontrib>Ishii, Kazuo</creatorcontrib><collection>中文科技期刊数据库</collection><collection>中文科技期刊数据库-CALIS站点</collection><collection>中文科技期刊数据库-7.0平台</collection><collection>中文科技期刊数据库-工程技术</collection><collection>中文科技期刊数据库- 镜像站点</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Wanfang Data Journals - Hong Kong</collection><collection>WANFANG Data Centre</collection><collection>Wanfang Data Journals</collection><collection>万方数据期刊 - 香港版</collection><collection>China Online Journals (COJ)</collection><collection>China Online Journals (COJ)</collection><jtitle>Journal of bionics engineering</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Sato, Masanori</au><au>Kanda, Atushi</au><au>Ishii, Kazuo</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A Switching Controller System for a Wheeled Mobile Robot</atitle><jtitle>Journal of bionics engineering</jtitle><addtitle>Journal of Bionics Engineering</addtitle><date>2007-12-01</date><risdate>2007</risdate><volume>4</volume><issue>4</issue><spage>281</spage><epage>289</epage><pages>281-289</pages><issn>1672-6529</issn><eissn>2543-2141</eissn><abstract>A wheeled mobile mechanism with a passive and/or active linkage mechanism for rough terrain environment is developed and evaluated. The wheeled mobile mechanism which has high mobility in rough terrain needs sophisticated system to adapt various environments.
We focus on the development of a switching controller system for wheeled mobile robots in rough terrain. This system consists of two sub-systems： an environment recognition system using link angles and an adaptive control system. In the environment recognition system, we introduce a Self-Organizing Map （SOM） for clustering link angles. In the adaptive controllers, we introduce neural networks to calculate the inverse model of the wheeled mobile robot.
The environment recognition system can recognize the environment in which the robot travels, and the adjustable controllers are tuned by experimental results for each environment. The dual sub-system switching controller system is experimentally evaluated. The system recognizes its environment and adapts by switching the adjustable controllers. This system demonstrates superior performance to a well-tuned single PID controller.</abstract><pub>Elsevier Ltd</pub><doi>10.1016/S1672-6529(07)60042-0</doi><tpages>9</tpages></addata></record> |
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| ispartof | Journal of bionics engineering, 2007-12, Vol.4 (4), p.281-289 |
| issn | 1672-6529 2543-2141 |
| language | eng |
| recordid | cdi_wanfang_journals_fsgcxb_e200704013 |
| source | Elsevier ScienceDirect Journals; Springer Nature - Complete Springer Journals; Alma/SFX Local Collection |
| subjects | mobile robot neural network rough terrain Self-Organizing Map 神经网络 移动机器人 粗糙地形 编辑技术 |
| title | A Switching Controller System for a Wheeled Mobile Robot |
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