| 基于神经网络的室外移动机器人前轮转向模型 |
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| 引用本文： | 杨欣欣,何克忠,郭木河,张钹.基于神经网络的室外移动机器人前轮转向模型[J].自动化学报,2000,26(2):154-161. |
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| 作者姓名： | 杨欣欣 何克忠 郭木河 张钹 |
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| 作者单位： | 1.清华大学计算机科学与技术系智能技术与系统国家重点实验室,北京 |
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| 基金项目： | 国家863计划资助项目． |
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| 摘 要： | 针对室外移动机器人的行驶特点,将车体模型划分为前轮转向模型、速度模型和位姿
模型三个部分.提出用模糊集合与神经网络相结合来建立车体前轮转向模型的方法.首先将对
前轮转向特性影响较大的行车速度模糊化,然后利用神经网络建立各模糊速度下的前轮转向模
型,最后由逆模糊化过程求得模型的实际输出.实验结果表明,该方法能较准确地反映车体的前
轮转向特性并具有鲁棒性强和易于实现的特点.
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| 关 键 词： | 室外移动机器人 前轮转向模型 模糊集合 神经网络 |
| 收稿时间： | 1998-9-22 |
| 修稿时间： | 1998-09-22 |
A FRONT WHEEL STEERING MODEL OF OUTDOOR MOBILE ROBOT BASED ON NEURAL NETWORKS |
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| YANG Xinxin,HE Kezhong,GUO Muhe,ZHANG Bo.A FRONT WHEEL STEERING MODEL OF OUTDOOR MOBILE ROBOT BASED ON NEURAL NETWORKS[J].Acta Automatica Sinica,2000,26(2):154-161. |
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| Authors: | YANG Xinxin HE Kezhong GUO Muhe ZHANG Bo |
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| Affiliation: | 1.The State Key Lab of Intelligent Technology and Systems,Dept.of Computer Sciene and Technology,Tsinghua University,Beijing |
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| Abstract: | A vehicle model of outdoor mobile robot which consists of a front wheel steering model,a speed model and a posture model is discussed based on the analysis of the driving characteristics of the robot. A method of establishing the front wheel steering model using fuzzy sets and neural networks is proposed. First the driving speed which influences the steering performance strongly is fuzzificated. Then the steering models for each fuzzy speed are constructed with neural networks. Finally the actual output of the model is calculated by a defuzzification process.It is shown by the results that the method can describe front wheel steering features exactly. The most remarkable superiority is its robustness and simplicity. |
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| Keywords: | Outdoor mobile robot front wheel steering model fuzzy sets neuralnetworks |
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