Abstract
Wheel type mobile systems are the most popular transportation mechanisms because the energy efficiency is high, the mechanism is simple and the control system is well investigated. On the other hand, the wheel type mobile robots have difficulties in rough terrain movement. In previous research, a six-wheeled mobile robot employing a linkage mechanism, “Zaurus”, was developed to extend maneuverability. In this paper, a neural network controller and PID-controller are applied to Zaurus, and the performances of the two controllers are evaluated.
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