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The transportation using wheels is one of the most popular transportation mechanisms for mobile robots because a wheel type mobile system has high energy efficiency, simple mechanism and well investigated control system. However, the wheel type mobile robots have the difficulty in the rough terrain movement. In this research, we propose an environmental adaptive control system for a wheel type mobile robot for the rough terrain movement. This proposal system recognized the traveling environment and switched the adaptable controllers, and showed the better performance than only one controller.
Date of Conference: Oct. 29 2007-Nov. 2 2007