| 轮式机器人遗传模糊神经网络转向控制 |
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| 引用本文： | 高峻峣,陆际联.轮式机器人遗传模糊神经网络转向控制[J].北京理工大学学报,2003,23(2):176-180. |
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| 作者姓名： | 高峻峣 陆际联 |
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| 作者单位： | 北京理工大学,机械与车辆工程学院,北京,100081 |
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| 摘 要： | 针对数学模型复杂的轮式机器人的转向控制问题，使用基于遗传算法的模糊神经网络转向控制方法．首先建立车辆的神经网络模型，然后构造模糊神经网络控制器，再用遗传算法寻找模糊神经网络控制器的参数，最后提高控制器对速度变化的适应性．仿真表明，该方法可以对机器人的转向进行有效控制，效果良好，能适应各种不同速度变化，是一种有实用意义的控制方法．
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| 关 键 词： | 轮式机器人 转向控制 神经网络 遗传算法 模糊控制 |
| 文章编号： | 1001-0645(2003)02-0176-05 |
| 收稿时间： | 2002/7/15 0:00:00 |
| 修稿时间： | 2002年7月15日 |
Steering Control of Wheeled Mobile Robot Using GA Fuzzy Neural Network |
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| GAO Jun yao and LU Ji lian.Steering Control of Wheeled Mobile Robot Using GA Fuzzy Neural Network[J].Journal of Beijing Institute of Technology(Natural Science Edition),2003,23(2):176-180. |
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| Authors: | GAO Jun yao and LU Ji lian |
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| Institution: | School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081, China;School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081, China |
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| Abstract: | As the mathematic model of the wheeled mobile robot is very complicated, a GA (genetic algorithms) fuzzy neural network method is presented for its steering control. A neural network model of the mobile robot is first established. Then a fuzzy neural network controller is constructed, and the GA method is used to find the best control parameters. The controller is then improved to suit the wide range of speeds. Simulation results show that the control strategy can control the mobile robot efficiently. |
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| Keywords: | wheeled mobile robot steering control neural network genetic algorithms fuzzy control |
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