DocumentCode
2343853
Title
An environmental adaptive control system of a wheel type mobile robot for the rough terrain movement
Author
Sato, Masanori ; Kanda, Atushi ; Ishii, Kazuo
fYear
2007
fDate
Oct. 29 2007-Nov. 2 2007
Firstpage
3962
Lastpage
3967
Abstract
The transportation using wheels is one of the most popular transportation mechanisms for mobile robots because a wheel type mobile system has high energy efficiency, simple mechanism and well investigated control system. However, the wheel type mobile robots have the difficulty in the rough terrain movement. In this research, we propose an environmental adaptive control system for a wheel type mobile robot for the rough terrain movement. This proposal system recognized the traveling environment and switched the adaptable controllers, and showed the better performance than only one controller.
Keywords
adaptive control; mobile robots; terrain mapping; environmental adaptive control system; wheel type mobile robot; Adaptive control; Control system synthesis; Control systems; Couplings; Mobile robots; Neural networks; Nonlinear control systems; Proposals; Prototypes; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location
San Diego, CA
Print_ISBN
978-1-4244-0912-9
Electronic_ISBN
978-1-4244-0912-9
Type
conf
DOI
10.1109/IROS.2007.4399604
Filename
4399604
Link To Document