简介：Awheeledmobilemechanismwithapassiveand/oractivelinkagemechanismforroughterrainenvironmentisdevelopedandevaluated.Thewheeledmobilemechanismwhichhashighmobilityinroughterrainneedssophisticatedsystemtoadaptvariousenvironments.Wefocusonthedevelopmentofaswitchingcontrollersystemforwheeledmobilerobotsinroughterrain.Thissystemconsistsoftwosub-systems:anenvironmentrecognitionsystemusinglinkanglesandanadaptivecontrolsystem.Intheen-vironmentrecognitionsystem,weintroduceaSelf-OrganizingMap(SOM)forclusteringlinkangles.Intheadaptivecontrol-lers,weintroduceneuralnetworkstocalculatetheinversemodelofthewheeledmobilerobot.Theenvironmentrecognitionsystemcanrecognizetheenvironmentinwhichtherobottravels,andtheadjustablecon-trollersaretunedbyexperimentalresultsforeachenvironment.Thedualsub-systemswitchingcontrollersystemisexperi-mentallyevaluated.Thesystemrecognizesitsenvironmentandadaptsbyswitchingtheadjustablecontrollers.Thissystemdemonstratessuperiorperformancetoawell-tunedsinglePIDcontroller.