サービス用知能移動ロボットの開発　第１報　環境適応型自律移動制御システム

• 田中 孝之

• 山藤 和男

• 高橋 秀典

書誌事項

タイトル別名

• Development of Intelligent Mobile Robot for Service Use. 1st Report. Adjusting-to-Environment Type Autonomous Locomotion System.
• サービスヨウ チノウ イドウ ロボット ノ カイハツ ダイ 1ポウ カンキョウ

抄録

We have developed an intelligent mobile robot for service use, which can be utilized as a "secretary-or helper-robot" by daytime and "robot for security guard or maintenance including floor cleaning" by night in office buildings. An autonomous locomotion control system of this service robot is organized by four functions, i.e., path planning, recognition of absolute position, locomotion control and learning navigation controller. In this paper, in order to move more appropriately and smoothly in environments including human beings and obstacles, we have examined the learning function by means of fuzzy neural network which tunes up membership functions for fuzzy locomotion control. By this method, the intelligent robot can learn the moving area autonomously. Results obtained by computer simulation show that the proposed method is very useful for autonomous locomotion control of the intelligent robot.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 63 (605), 211-218, 1997

  一般社団法人 日本機械学会

キーワード

• Mobile Robot
• Service Use
• Autonomous Locomotion Control
• Fuzzy Control
• Fuzzy Neural Network
• Learning

詳細情報

• CRID: 1390001206327163392
• NII論文ID: 130004232040
• NII論文ID: 110002384868
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.63.211
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 4128553
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4128553
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/63/605/63_605_211/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可