A neural network based controller for a wheel type mobile robot

Sato, Masanori; Ishii, Kazuo

doi:10.1016/j.ics.2006.01.056

Cited by 17 publications

(4 citation statements)

References 3 publications

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“…(1) NAL standard, 25 frames per second, 2 fields per frame, 50 fields per second, 20ms produce an image, 356 * 292 pixels (2) No AD, no video sync separation chip LM1881, shown in Figure 3. Horizontal and vertical sync interrupt signals are HREF and ASYNC, were captured with the MCU external interrupt port.…”

Section: Power Management Modulementioning

confidence: 99%

Visual Intelligent Vehicle Control System’s Design Based on PC9S12XS128 MCU

Han

Zhang

Wen

2012

AMR

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In this paper, PC9S12XS128 MCU produced by Freescale Semiconductor Co., Ltd is used as the core control unit to designed a intelligent vehicle, which can be free to follow the line of travel. The main control system including motor drive module, server drive module, the path identification module, power module, etc..Through compare a variety of hardware control program, use the best program to take control of car model’s speed and direction. Experimental results show that the intelligent vehicle designed can antomatic driving on the path of human plan accuracy.

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Section: Power Management Modulementioning

confidence: 99%

Visual Intelligent Vehicle Control System’s Design Based on PC9S12XS128 MCU

Han

Zhang

Wen

2012

AMR

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“…In the previous papers, a mobile robot "Zaurus" (Fig. 1A) was developed using the linkage structure, and its maneuverability has been verified through simulation and experiments [4,5]. The result of climbing over the bump of 0.20 m, which corresponds to twice the diameter of the wheel, has been achieved.…”

Section: Introductionmentioning

confidence: 96%

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

Sato

Kanda

Ishii

2007

International Congress Series

Self Cite

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“…On the other hand, most wheeled robots are equipped with passive mechanisms in order to adapt their configuration to the terrain profile and to reduce the resistance during obstacle crossing: the Spirit/Opportunity and Sojourner rovers developed by NASA for Mars exploration are the most well‐known rocker‐bogie‐type rovers; their frames have six wheels, and the front wheels have steering capability (Lindemann and Voorhees, 2005); SOLERO and SHRIMP are two similar eight‐wheeled rovers realized by the Ecole Polytechnique Fédérale de Lausanne (EPFL) (Michaud et al , 2002); CRAB is a six‐wheeled rover developed by EPFL, with a mechanical structure based on parallel bogies (Thueer et al , 2006); Zaurus is a six‐wheeled robot; each wheel can be driven independently; a front wheel is connected by a front fork to the main body; a rear wheel is fixed to the body; on each side, two lateral wheels are connected to the body by passive linkages (Sato and Ishii, 2006).…”

Section: Introductionmentioning

confidence: 99%

Epi.q‐TG: mobile robot for surveillance

Quaglia

Bruzzone²,

Bozzini³

et al. 2011

Industrial Robot: An International Journal

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PurposeThe purpose of this paper is to describe the development of a robot for surveillance able to move in structured and unstructured environments and able to overcome obstacles with high energetic efficiency.Design/methodology/approachThe proposed Epi.q‐TG hybrid robot combines wheeled and legged locomotion. It is equipped with four three‐wheeled locomotion units; traction is generated by the two forecarriage units, while the two rear ones have same geometry but are idle. Each front unit is actuated by a single motor with the interposition of an epicyclical gearing, accurately designed in order to suitably switch between wheeled and legged motion. The robot changes locomotion mode from rolling on wheels (advancing mode) to stepping on legs (automatic climbing mode) according to local friction and dynamic conditions.FindingsThe experimental results confirm the design objectives. In advancing mode, the robot behaves like a four‐wheeled vehicle, with high speed and energetic efficiency. In automatic climbing mode, the robot can walk on uneven and soft terrains and overcome steps with remarkable height with respect to its dimensions (up to 84 per cent of the locomotion unit height).Practical implicationsBesides surveillance, Epi.q‐TG can be successfully used in many tasks in which it is useful to combine the advantages of wheeled and legged locomotion, e.g. unmanned inspection of nuclear and chemical sites, minesweeping, and intervention in disaster zones.Originality/valueThe core of the project is the epicyclical mechanism of the locomotion unit, which switches between advancing mode and automatic climbing mode without control action. This solution limits the control and actuation complexity and consequently the robot cost, widening the range of possible applications.

show abstract

A neural network based controller for a wheel type mobile robot

Cited by 17 publications

References 3 publications

Visual Intelligent Vehicle Control System’s Design Based on PC9S12XS128 MCU

Visual Intelligent Vehicle Control System’s Design Based on PC9S12XS128 MCU

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

Epi.q‐TG: mobile robot for surveillance

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