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ID 19691
Eprint ID
19691
FullText URL
Author
Sato Masanori
Kanda Atsushi
Ishii Kazuo
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.
Published Date
2009-11-11
Publication Title
Proceedings : Fifth International Workshop on Computational Intelligence & Applications
Volume
volume2009
Issue
issue1
Publisher
IEEE SMC Hiroshima Chapter
Start Page
230
End Page
235
ISSN
1883-3977
NCID
BB00577064
Content Type
Conference Paper
language
英語
Copyright Holders
IEEE SMC Hiroshima Chapter
Event Title
5th International Workshop on Computational Intelligence & Applications IEEE SMC Hiroshima Chapter : IWCIA 2009
Event Location
東広島市
Event Location Alternative
Higashi-Hiroshima City
File Version
publisher
Refereed
True
Eprints Journal Name
IWCIA