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As a prerequisite for developing neural control for walking machines that are able to autonomously navigate through rough
terrain, artificial structure evolution is used to generate various single leg controllers. The structure and dynamical properties
of the evolved (recurrent) neural networks are then analysed to identify elementary mechanisms of sensor-driven walking behaviour.
Based on the biological understanding that legged locomotion implies a highly decentralised and modular control, neuromodules
for single, morphological distinct legs of a hexapod walking machine were developed by using a physical simulation. Each of
the legs has three degrees of freedom (DOF). The presented results demonstrate how extremely small reflex-oscillators, which
inherently rely on the sensorimotor loop and e.g. hysteresis effects, generate effective locomotion. Varying the fitness function
by randomly changing the environmental conditions during evolution, neural control mechanisms are identified which allow for
robust and adaptive locomotion. Relations to biological findings are discussed. 相似文献
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基于CPLD的彩色视觉移动机器人路径跟踪系统 总被引:1,自引:0,他引:1
路径跟踪是机器人视觉导航控制基本技术之一,为使机器人沿地面彩色引导线自主运动,并能在适时离线执行任务后自动返航,提出了一种用可编程逻辑器件(CPLD)实现的视觉伺服PID控制方法.该方法利用图像特征反馈对其所跟踪的路经进行实时识别跟踪.仿真结果表明,该方法改善了控制算法的实时性,提高了移动机器人的路径跟踪精度与速度. 相似文献
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无人水面艇在路径跟踪过程中容易受到波浪环境的干扰,针对该问题提出一种基于可变船长比的直线路径跟踪方法。首先,建立了固定双桨无人水面艇在二阶波浪力下的运动模型;根据视距导航原理,设计了跟踪期望航向角的PD控制器,通过融合路径方向,距离偏差及船长比等信息,实时调整左右两侧推进电机的控制电压,实现无人水面艇直线路径跟踪。然后,针对不同船长比对直线路径跟踪的影响,在PD控制器中增加了以跟踪过程中的距离偏差和距离偏差变化率为输入,以船长比为输出的模糊推理模块,对船长比进行实时在线调整,提高了系统的抗波浪干扰性能。仿真结果表明,较之固定船长比的路径跟踪方法,所提方法使跟踪过程具有更好的动态性能,并且可减小波浪干扰下的路径跟踪偏差,有效克服波浪的干扰作用。 相似文献