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A Switching Controller System Based on Environment Recognition

Masanori Sano, Atushi Kanda, Kazuo Ishii

Abstract


For rough terrain movement, development control strategy is one of the most important research topics. Many controller design method are proposed, however, a single controller has limitations in applicable environments. In this research, a switching controller system based on environment recognition for a rough terrain wheel type mobile robot is proposed. The controller system consists of two sub systems, one is an environment recognition system using Self-Organizing Map (SOM) and the other is a controller system for each environment using neural networks. In the experiments, the mobile robot recognized its environment and selected an optimal controller, and the proposed control system showed better performance than a tuned PID controller.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2007.v3.615

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