| 基于T-S型模糊神经网络的轮式机器人避障方法研究 |
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| 引用本文： | 李会来,李小民,苏立军.基于T-S型模糊神经网络的轮式机器人避障方法研究[J].计算机测量与控制,2011,19(1). |
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| 作者姓名： | 李会来 李小民 苏立军 |
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| 作者单位： | 军械工程学院,光学与电子工程系,河北,石家庄,050003 |
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| 摘 要： | 针对超声波传感器产生的不确定信息,研究了一种基于Takagi-Sugeno(T-S)模型的模糊神经网络信息融合避障方法;对超声波传感器所获得的数据进行融合,建立控制器输入信号和机器人速度输出之间的模式映射关系;在MATLAB环境下对模糊神经网络避障算法进行了仿真,最后在实际环境中进行避障实验;实验结果表明,该算法具有较好的准确性和鲁棒性,能够适用于移动机器人的导航需要.
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| 关 键 词： | 移动机器人 避障 模糊神经网络 信息融合 |
Research of Obstacle-avoidance Based on T-S-type Fuzzy Neural Network for Wheeled Mobile Robot |
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| Li Huilai,Li Xiaomin,Su Lijun.Research of Obstacle-avoidance Based on T-S-type Fuzzy Neural Network for Wheeled Mobile Robot[J].Computer Measurement & Control,2011,19(1). |
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| Authors: | Li Huilai Li Xiaomin Su Lijun |
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| Affiliation: | Li Huilai,Li Xiaomin,Su Lijun(Department of Optics and Electronics Engineering,Ordnance Engineering College,Shijiazhuang 050003,China) |
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| Abstract: | To deal with the uncertain data of the ultrasonic sensor,an obstacle avoidance method of data fusion based on Takagi-Sugeno-type(T-S) fuzzy neural network is given.This paper introduced the data fusion of the ultrasonic sensor and established the mapping-relationship between the input signals of a controller and the robot output-speed.The simulation of obstacle avoidance based on fuzzy neural network is performed under MATLAB environment,finally the applied experiment is carry out in practical environment.T... |
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| Keywords: | mobile robot obstacle avoidance fuzzy neural network data fusion |
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