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ID 28433
本文ファイル
A1108.pdf 2.82 MB
著者
Sato, Masanori
Kanda, Atsushi
Ishii, Kazuo
NDC
技術・工学
抄録(英)
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.
掲載誌名
5th International Workshop on Computational Intelligence & Applications Proceedings : IWCIA 2009
開始ページ
230
終了ページ
235
出版年月日
2009-11
出版者
IEEE SMC Hiroshima Chapter
ISSN
1883-3977
言語
英語
NII資源タイプ
会議発表論文
広大資料タイプ
会議発表論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
publisher
権利情報
(c) Copyright by IEEE SMC Hiroshima Chapter.
関連情報URL
部局名
工学研究科