Abstract
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. In this paper, we propose a switching controller system for wheel type mobile robot on rough terrain environment. This system consists of two sub systems. One is the environment recognition system using self-organizing map. The other one is the adjusted controllers using neural networks.
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Kanda, A., Sato, M., Ishii, K. (2010). An Environment Recognition System Using SOM. In: Hanazawa, A., Miki, T., Horio, K. (eds) Brain-Inspired Information Technology. Studies in Computational Intelligence, vol 266. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04025-2_16
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DOI: https://doi.org/10.1007/978-3-642-04025-2_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-04024-5
Online ISBN: 978-3-642-04025-2
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