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不整地移動ロボットのための環境適応型制御システム
http://hdl.handle.net/10228/5994
http://hdl.handle.net/10228/59948c530ca2-287d-41e4-86a9-dff6415e47d1
名前 / ファイル | ライセンス | アクション |
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RSJ27_950.pdf (1.4 MB)
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Item type | 学術雑誌論文 = Journal Article(1) | |||||||||||
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公開日 | 2017-01-26 | |||||||||||
資源タイプ | ||||||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||
資源タイプ | journal article | |||||||||||
タイトル | ||||||||||||
タイトル | 不整地移動ロボットのための環境適応型制御システム | |||||||||||
その他のタイトル | ||||||||||||
その他のタイトル | Adaptive Control System for an Outdoor Mobile Robot | |||||||||||
言語 | ||||||||||||
言語 | jpn | |||||||||||
著者 |
佐藤, 雅紀
× 佐藤, 雅紀× 神田, 敦司× 石井, 和男
WEKO
3456
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抄録 | ||||||||||||
内容記述タイプ | Abstract | |||||||||||
内容記述 | This paper describes the development of an adaptive control system for an outdoor mobile robot. The adaptive control system is composed of an environment recognition system using a self-organizing map and hybrid-neural network controllers based on neural networks. The environment recognition system can recognize the environment in which the robot travels and can switch the hybrid-neural network controller. The hybrid-neural network controllers are tuned by experimental results for each environment. To evaluate the performance of target tracking and vibration suppression, an experiment using the wheeled mobile robot, “Zaurus”, was conducted in rough terrain. As a result, our proposed method could show less oscillatory motion in rough terrain and performed better than a well tuned PID controller. | |||||||||||
書誌情報 |
日本ロボット学会誌 巻 27, 号 8, p. 950-960, 発行日 2009-10-01 |
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出版社 | ||||||||||||
出版者 | 日本ロボット学会 | |||||||||||
DOI | ||||||||||||
関連タイプ | isIdenticalTo | |||||||||||
識別子タイプ | DOI | |||||||||||
関連識別子 | info:doi/10.7210/jrsj.27.950 | |||||||||||
NCID | ||||||||||||
収録物識別子タイプ | NCID | |||||||||||
収録物識別子 | AN00141189 | |||||||||||
ISSN | ||||||||||||
収録物識別子タイプ | ISSN | |||||||||||
収録物識別子 | 0289-1824 | |||||||||||
ISSN | ||||||||||||
収録物識別子タイプ | ISSN | |||||||||||
収録物識別子 | 1884-7145 | |||||||||||
著作権関連情報 | ||||||||||||
権利情報 | 日本ロボット学会 | |||||||||||
著作権関連情報 | ||||||||||||
権利情報 | 利用は著作権の範囲内に限られる | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Outdoor Mobile Robot | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Rough Terrain | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Neural Network | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Self-organizing Map | |||||||||||
出版タイプ | ||||||||||||
出版タイプ | VoR | |||||||||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
査読の有無 | ||||||||||||
値 | yes | |||||||||||
研究者情報 | ||||||||||||
https://hyokadb02.jimu.kyutech.ac.jp/html/353_ja.html | ||||||||||||
連携ID | ||||||||||||
155 | ||||||||||||
資料タイプ | ||||||||||||
内容記述タイプ | Other | |||||||||||
内容記述 | Journal Article | |||||||||||
著者別名 | ||||||||||||
姓名 | Sato, Masanori | |||||||||||
著者別名 | ||||||||||||
姓名 | Kanda, Atsushi | |||||||||||
著者別名 | ||||||||||||
姓名 | Ishii, Kazuo | |||||||||||
言語 | en | |||||||||||
姓名 | 石井, 和男 | |||||||||||
言語 | ja | |||||||||||
姓名 | イシイ, カズオ | |||||||||||
言語 | ja-Kana | |||||||||||
著者所属 | ||||||||||||
福岡県産業科学技術振興財団 | ||||||||||||
著者所属 | ||||||||||||
九州工業大学 | ||||||||||||
著者所属 | ||||||||||||
九州工業大学 |