Performance evaluation of a neural network controller system for a wheel type mobile robot

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.

[1]  Robert Ivlev,et al.  The Rocky 7 Mars rover prototype , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[2]  Yoshinori Sato,et al.  Mobility performance evaluation of planetary rover with similarity model experiment , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[3]  Kazuo Ishii,et al.  A neural network based controller for a wheel type mobile robot , 2006 .

[4]  R. Siegwart,et al.  An Innovative Space Rover with Extended Climbing Abilities , 2000 .

[5]  Mitsuhisa Sato,et al.  A Neural Network Based Control System for a Mobile Robot Employing Link Mechanism , 2005, AIM 2005.