Path Plan of Robot Based on Neural-Fuzzy Control System
According to the issue of dynamic path plan of mobile robot in unknown environments from start to the destination with obstacle avoidance, a systemic neural-fuzzy control algorithm is proposed.Fuzzy logic control system is designed to do the input fuzzification,fuzzy reasoning rule base,output defuzzification.The simplified structure of neural network handling the fuzzy control is also designed.Train the network using QPSO.Solve the dead cycle problem in U-shaped obstacle through the storage and management strategy of status variable of robot.Experimental results show that under the control of the proposed systemic algorithm,mobile robot can moving toward the target,avoiding all kinds of obstacles,dynamically planning reasonable path,not getting into the dead cycle.
fuzzy neural-fuzzy control dynamic path plan QPSO status variable
Fang Bao Yonghui Pan Wenbo Xu
Jiangyin Polytechnic College.No.168,xicheng road,Jiangyin Jiangsu,China 214405 School of Information School of Information Technology,Jiangnan University.No.1800,Lihudadao,Wuxi Jiangsu,China 214122
国际会议
大连
英文
687-693
2008-07-27（万方平台首次上网日期，不代表论文的发表时间）