A SELF-ORGANIZING ENVIRONMENTAL POTENTIAL FIELD MODEL BASED ON FUZZY NEURAL NETWORKS

摘要：

Aim at an autonomous mobile robot dynamics planning, this paper proposes a method to construct the dynamic environment potential field model to realize the autonomous mobile robot dynamics planning, and employ fuzzy neural network to tune potential field parameters to overcome the artificial potential field problems of the local minima. Simulation results show that the proposed method is not only effective in realizing optimal path planning , but also provides an effective action planning method which combine the traditional planning and the adaptive optimization technology based on the experience.

关键词： Artificial potential field Fuzzy neural network Mobile robots Planning

作者: BI ZENG YI-MIN YANG ZHEN-WEN SU

作者单位: Guangdong University of Technology, Guangzhou, 510006, China

会议类型: 国际会议

会议名称: 2008 International Conference on Machine Learning and Cybernetics(2008机器学习与控制论国际会议)

会议地点: 昆明

会议语种:英文

页码: 1835-1839

在线出版日期: 2008-07-12（万方平台首次上网日期，不代表论文的发表时间）