モジュラーネットワーク型自己組織化マップを用いた水中ロボットの運動制御システム

• 西田, 周平

• 石井, 和男

• 古川, 徹生

書誌事項

タイトル別名

• A Motion Control System for an AUV using modular network Self-Organizing Map

抄録

Autonomous Underwater Vehicles(AUVs) are attractive tools for maintenance of underwater structures and oceanography. However, there are a lot of problems to be solved. We have been investigated the application of brain-inspired technolofies into AUVs. The motion of AUV is represented by complicated non-linear dynamics in six degrees of freedom with added-mass and hydrodynamic forces, and control systems should be adaptive and robust. In this paper, a new self-Organizing cotroller system for AUVs using modular network Self-Organizing Map(mnSOM) proposed by Tokunaga et al. is discussed. The efficiency of the system is investigated through the simulations.

第24回日本ロボット学会学術講演会，2006年9月14日，岡山大学，日本

収録刊行物

• 第24回日本ロボット学会学術講演会講演論文集

  第24回日本ロボット学会学術講演会講演論文集 2006-09-01

  日本ロボット学会

キーワード

• Adaptive Controller System
• modular network SOM
• AUV

詳細情報

• CRID: 1050574047118116096
• NII論文ID: 120006664828
• HANDLE: 10228/2341
• Web Site: https://kyutech.repo.nii.ac.jp/records/1515
• 本文言語コード: ja
• 資料種別: conference paper
• データソース種別:
  • IRDB
  • CiNii Articles
  • KAKEN