| 基于模糊神经控制的机器人避障算法 |
| |
| 引用本文： | 何文广.基于模糊神经控制的机器人避障算法[J].黑龙江工程学院学报,2008,22(3):63-66. |
| |
| 作者姓名： | 何文广 |
| |
| 作者单位： | 黑龙江工程学院机电工程系,黑龙江哈尔滨150050 |
| |
| 摘 要： | 针对以往机器人避障行为控制过程中存在的问题，提出基于模糊神经控制的机器人避障算法来实现机器人的实时、准确避障。该算法主要应用一定量的模糊规则与模糊Kohonen聚类网络的结合生成一种启发式的模糊神经网络，建立超声波传感器输入信号和机器人速度之间的模式映射关系。通过对算法的实验仿真，结果表明提出的避障算法是正确有效的。
|
| 关 键 词： | 机器人 模糊神经控制 避障 算法 |
The caculation of avoiding barriers for robot based on fuzzy neural control |
| |
| HE Wen-guang.The caculation of avoiding barriers for robot based on fuzzy neural control[J].Journal of Heilongjiang Institute of Technology,2008,22(3):63-66. |
| |
| Authors: | HE Wen-guang |
| |
| Affiliation: | HE Wen-guang (Dept. of Electromechanic Engineering, Heilongjiang Institute of Technology, Harbin 150050, China) |
| |
| Abstract: | In order to solve the problems in control of the robot in its avoiding barriers, the method of the robot avoiding barriers is proposed based on fuzzy-neuro control. The disposal of the system of ultrasonic sensors and infrared sensors is given. Through the combination of heuristic fuzzy rules and the Kohonen clustering network, a heuristic fuzzy-neuro network is developed. This method builds up pattern-mapping between u. ltrasonic sensory input data and velocity command by applying the off-line and unsupervised training method to this network. A simulation result shows that the proposed method of the robot avoiding barriers is correct and efficient. |
| |
| Keywords: | robot fuzzy-neuro control avoiding barriers caculation |
| 本文献已被 维普 万方数据 等数据库收录！ |
