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1. Harmonious Systems Engineering Lab. A study on cooperative distributed control of multiple motors for indoor blimp robot 2 2. Harmonious Systems Engineering Lab.::() 3. Harmonious Systems Engineering Lab. 4. Harmonious Systems Engineering Lab.94.0[cm]80.0[cm]Camera SensorControllerRGB 16bit 160144[pixel]T-Engine System CPU: 216MHzPropellersImage informationControl signalxyz3m3m XY2chZ 1ch 0.3 5. Harmonious Systems Engineering Lab. 6. Harmonious Systems Engineering Lab. 7. Harmonious Systems Engineering Lab. (Rxi, Ryi)1(0.3[sec]) (Dx, Dy)14(Z0(t-1), Z1(t-1)), Z2(t-1)), Z3(t-1)))4 8. Harmonious Systems Engineering Lab. RxiRyiDxiDyiZi(t-1)(Rxi ,Ryi)1(Dxi ,Dyi)1(Zi(t-1))i i 9. Harmonious Systems Engineering Lab.GA1. N2. 3. 4. ()5. 24 NNTimeOfs ds dTimesfddffitness f f fTime iioTimesinitenddd s o410( 0.1)1( 0.1)1 GA 10. Harmonious Systems Engineering Lab.1(4)2(6) 3001 1 () 11(00)(0150)Z NN 11. Harmonious Systems Engineering Lab.12 1 2 12. Harmonious Systems Engineering Lab. 1 2 13. Harmonious Systems Engineering Lab.0.020.040.060.080.0100.0120.01 2 3[cm] 1 2 14. Harmonious Systems Engineering Lab. 1212 15. Harmonious Systems Engineering Lab. Cooperative control of multiple neural networks for indoor blimp robot , Ryouta Nishioka, Hidenori Kawamura, Azuma Ohuchi, Toshihiko Takaya, and Hiroyuki Iizuka ,The Thirteenth International Symposium on Artificial Life and Robotics 2008 Vision based control for line following blimp robot,, Ryouta Nishioka, Hidenori Kawamura, Masahito Yamamoto, Toshihiko Takaya, and Azuma OhuchiThe Twelfth International Symposium on Artificial Life and Robotics 2007, , , , , ROBMEC 2007 in AKITA

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