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A LEARNING BASED TRAVELING CONTROL SYSTEM OF MOBILE ROBOTS USING INTELLIGENT CONTROL THEORY

Research Project

Project/Area Number 08650494
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field 計測・制御工学
Research InstitutionSHIMANE UNIVERSITY (1997)
Okayama University (1996)

Principal Investigator

FUNABIKI Shigeyuki  FACULTY OF INTERDISCIPLINARY OF SCIENCE AAND ENGINEEERING,Professor, 総合理工学部, 教授 (60108123)

Project Period (FY) 1996 – 1997
Project Status Completed (Fiscal Year 1997)
Budget Amount *help
¥2,500,000 (Direct Cost: ¥2,500,000)
Fiscal Year 1997: ¥300,000 (Direct Cost: ¥300,000)
Fiscal Year 1996: ¥2,200,000 (Direct Cost: ¥2,200,000)
Keywordsmobile robots / fuzzy / neural networks / folow-up control / learning / ファジィ推論 / 距離センサー
Research Abstract

For mobile robots working under various conditions, the improvement of the system efficiency, the development of the tuning-less and maintenance-free system can be realized by obtaining the optimal traveling control scheme according to the traveling conditions. The goal of this study is to achieve the acquistion method of the traveling control of mobile robots for various traveling conditions by using the intelligent control methods, e.g.fuzzy theory and neural networks. The obtained results in this study is as follows ;
(1) Neural network based successive learning of steering control of mobile robots
The control results with neural networks will be unstable due to the over learning of neural networks. The real time tuning function is proposed for the control method of learning of neural networks, and then the stable steering control of mobile robots can be achieved in some trials.
(2) Automatic acquisition of follow-up control by using fuzzy theory and neural networks
The acquisition method of the follow-up control for mobile robots is proposed based on the fuzzy theory and neural networks. It is clarified by the computer simulation and the experiment that the developed control is very available for the follow-up control of mobile robots.
(3) Development of position sensor using a CCD camera
A monocular vision based position sensor using a CCD camera with neural networks is developed.

Report

(3 results)
  • 1997 Annual Research Report   Final Research Report Summary
  • 1996 Annual Research Report
  • Research Products

    (3 results)

All Other

All Publications (3 results)

  • [Publications] 舩曳 繁之, 小寺 和之: "リアルタイム調整関数を用いた無人搬送車ステアリングのニューロ制御" 電気学会論文誌D. (掲載予定).

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Shigeyuki FUNABIKI,Kazuyuki KODERA: "A Steering Control of Automated Guided Vehicles by the Neural Network using Real-Time Tuning Function" Trans.on IEE of Japan, D. (to be published).

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] 舩曳,繁之, 小寺和之: "リアルタイム調整関数を用いた無人搬送車ステアリングのニューロ制御" 電気学会論文誌D. (提載予定).

    • Related Report
      1997 Annual Research Report

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Published: 1996-04-01   Modified: 2016-04-21  

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