Abstract
A wheeled mobile mechanism with a passive and/or active linkage mechanism for travel in rough terrain is developed and evaluated. In our previous research, we developed a switching controller system for wheeled mobile robots in outdoor environment. This system consists of two sub-systems: an environment recognition system using a self-organizing map and an adjusted control system using a neural network. In this paper, we propose a new controller design method based on a neural network. The proposed method involves three kinds of controllers: an elementary controller, adjusted controllers, and simplified controllers. In the experiments, our proposed method results in less oscillatory motion in outdoor environment and performs better than a well tuned PID controller does.KeywordsMobile RobotRough TerrainTeaching SignalPropose Control SystemWheel Mobile RobotThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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