用于移动机器人的新型模糊神经元速度控制器

文中提出一种新型的模糊神经元速度控制器 ,为移动机器人解决位移转换成速度这个逆运动学问题 它把模糊论和预确定策略集成到神经元网络系统中 ,使得它能利用路径信息去控制机器人达到所希望的运动速度 模拟研究显示了它能控制机器人在静态或者动态的环境中 ,不通过学习就能沿着动态的避碰路径去捕捉目标 另外 ,可将其集成到其他的系统中去控制速度 ,或者作为一个独立的系统使用传感器信息去控制机器人的运动

A Novel Fuzzy-Neural Velocity Controller for a Mobile Robot

In order to solve the problem of transforming displacement into velocity,this paper presents a novel fuzzy neural velocity controller for a mobile robot. It integrates the fuzzy theory and pre decision strategy into a neural network system. So it can make use of path information to produce the desired velocity to control a robot. The simulation studies demonstrate that the controller can control the robot to follow the dynamic collision free path to catch a target in a stationary or non stationary environment without learning. It can also be integrated into other systems to control the velocity or used as an independent system to guide robots using sensory information