Cooperative control of multiple neural networks for an indoor blimp robot |
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Authors: | Hidenori Kawamura Hiroyuki Iizuka Toshihiko Takaya Azuma Ohuchi |
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Affiliation: | (1) Graduate School of Information Science and Technology, Hokkaido University, North 14, West 8, Kita-ku, Sapporo 060-8628, Japan;(2) Ricoh Software Inc., Tokyo, Japan;(3) Graduate School of Information Science & Technology, Osaka University, Osaka, Japan |
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Abstract: | We report on the cooperative control of multiple neural networks for an indoor blimp robot. In our research group, the indoor
blimp robot has been studied to achieve various flying robot applications. The objective of this article is to propose a robust
controller that can adapt to mechanical accidents such as the breakdown of propellers. In our proposed method, each propeller
thrust is independently calculated by a small neural network. We confirm the advantage of the proposed method against the
control by a single large neural network.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 |
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Keywords: | Indoor blimp robot Neural network Cooperative control |
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