Abstract
Recently, various mechanism have been developed combining linkage mechanisms and wheels, especially, the combination of passive linkage mechanisms and small wheels is one of main research trends, because, standard wheeled mobile mechanisms have difficulties on rough terrain movements. In our research, a 6-wheeled mobile robot employing a passive linkage mechanism has been developed to enhance maneuverability and achieved climbing capability over a 0.20[m] height of bump. In this paper, we propose environment recognition system for wheeled mobile robot which consists of multiple classification analyses like self-organizing map, and image processing for self-localization.
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