| Presentation | 2006-06-16 Line trace control of four wheel vehicle using neurocontroller by GA learning Shinsaku MAEHANA, Hiroshi KINJO, Eiho UEZATO, Tetsuhiko YAMAMOTO, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this paper, we propose a design method of a four-wheel vehicle line trace controller using a neurocontroller (NC) learning by a genetic algorithm(GA). The four-wheel vihicle can be modeled as a driftless system and is known to be in the class of nonholonomic systems. Many control methods have been presented for nonholonomic systems. One method is the time-state control form that utilizes a chained form conversion. The chained forms are powerful and useful for designing the nonholonomic control system. However, in the case of a four-wheel vehicle, the time-state control form has some limitations in the controllable ranges due to the conversion. Therefore, we propose a design method of a state feedback controller for a four-wheel vehicle system using a NC without chained forms. The NC is trained by a genetic algorithm. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | nonholonomic system / neurocontroller / genetic algorithm / four-wheel vehicle / line trace |
| Paper # | NC2006-37 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2006/6/9(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Line trace control of four wheel vehicle using neurocontroller by GA learning |
| Sub Title (in English) | |
| Keyword(1) | nonholonomic system |
| Keyword(2) | neurocontroller |
| Keyword(3) | genetic algorithm |
| Keyword(4) | four-wheel vehicle |
| Keyword(5) | line trace |
| 1st Author's Name | Shinsaku MAEHANA |
| 1st Author's Affiliation | Graduate School of Mechanical Engineering, University of the Ryukyus() |
| 2nd Author's Name | Hiroshi KINJO |
| 2nd Author's Affiliation | Mechanical Engineering, University of the Ryukyus |
| 3rd Author's Name | Eiho UEZATO |
| 3rd Author's Affiliation | Mechanical Engineering, University of the Ryukyus |
| 4th Author's Name | Tetsuhiko YAMAMOTO |
| 4th Author's Affiliation | Mechanical Engineering, University of the Ryukyus |
| Date | 2006-06-16 |
| Paper # | NC2006-37 |
| Volume (vol) | vol.106 |
| Number (no) | 102 |
| Page | pp.pp.- |
| #Pages | 4 |
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