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ID 28433
file
A1108.pdf 2.82 MB
creator
Sato, Masanori
Kanda, Atsushi
Ishii, Kazuo
NDC
Technology. Engineering
abstract
A wheeled mobile mechanism with a passive and/or active linkage mechanism for traveling in the outdoor environment is developed and evaluated. In our previous research, we developed a wheeled mobile robot which has six wheels and a passive linkage mechanism, and its maneuverability was experimentally verified. The ability to climb over a 0.20 [m] high bump, which is twice height of the wheel diameter of 0.10 [m], was achieved, and the mobile robot can climb up continuous steps of 0.15 [m] high.

In this research, we optimized the mobile robot linkage mechanisms and a controller parameter by evolutionary algorithm and dynamics engine in numerical simulations. The evolutionary algorithm employed in this research is Genetic Algorithm, and Open Dynamics Engine is used for dynamics calculation. To optimize the linkage mechanism and a controller parameter, we investigated outdoor environment for the mobile robot, for example obstacles, steps, and stairs. And, we selected typical three kinds of outdoor environments, 0.20 [m] high bump, right angle stairs of 0.15 [m] high, and angled stairs of 0.15 [m] high. In the numerical simulations, though the mobile robot using parameters which express our existing robot could climb up/down the 0.20 [m] high bump, but it could not achieve climbing up/down the two kinds of stairs. On the other hand, the optimized parameter mobile robot could climb up/down the three kinds of typical environments.
journal title
5th International Workshop on Computational Intelligence & Applications Proceedings : IWCIA 2009
start page
230
end page
235
date of issued
2009-11
publisher
IEEE SMC Hiroshima Chapter
issn
1883-3977
language
eng
nii type
Conference Paper
HU type
Conference Papers
DCMI type
text
format
application/pdf
text version
publisher
rights
(c) Copyright by IEEE SMC Hiroshima Chapter.
relation url
department
Graduate School of Engineering



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