WEKO3
アイテム
Simultaneous Optimization of a Wheeled Mobile Robot Structure and a Control Parameter
https://hiroshima.repo.nii.ac.jp/records/2000860
https://hiroshima.repo.nii.ac.jp/records/20008607ff9aede-e21b-4dd5-9e96-a5680636f39b
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
A1108.pdf (2.8 MB)
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| Item type | デフォルトアイテムタイプ_（フル）(1) | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2023-03-18 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Simultaneous Optimization of a Wheeled Mobile Robot Structure and a Control Parameter | |||||||||||
| 言語 | en | |||||||||||
| 作成者 |
Sato, Masanori
× Sato, Masanori
× Kanda, Atsushi
× Ishii, Kazuo
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| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||
| 権利情報 | ||||||||||||
| 権利情報 | (c) Copyright by IEEE SMC Hiroshima Chapter. | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | NDC | |||||||||||
| 主題 | 500 | |||||||||||
| 内容記述 | ||||||||||||
| 内容記述 | 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. | |||||||||||
| 言語 | en | |||||||||||
| 出版者 | ||||||||||||
| 出版者 | IEEE SMC Hiroshima Chapter | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||||||||
| 資源タイプ | conference paper | |||||||||||
| 出版タイプ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
| 関連情報 | ||||||||||||
| 識別子タイプ | URI | |||||||||||
| 関連識別子 | http://www.hil.hiroshima-u.ac.jp/iwcia/2009/ | |||||||||||
| 収録物識別子 | ||||||||||||
| 収録物識別子タイプ | ISSN | |||||||||||
| 収録物識別子 | 1883-3977 | |||||||||||
| 開始ページ | ||||||||||||
| 開始ページ | 230 | |||||||||||
| 書誌情報 |
5th International Workshop on Computational Intelligence & Applications Proceedings : IWCIA 2009 5th International Workshop on Computational Intelligence & Applications Proceedings : IWCIA 2009 p. 230-235, 発行日 2009-11 |
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| 旧ID | 28433 | |||||||||||
