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| 基于神经网络辨识的移动机器人航向误差校准方法 | |
| 引用本文： | 于金霞,蔡自兴,邹小兵,段琢华.基于神经网络辨识的移动机器人航向误差校准方法[J].中南大学学报(自然科学版),2005,36(5):745-750. |
| 作者姓名： | 于金霞 蔡自兴 邹小兵 段琢华 |
| 作者单位： | 1. 中南大学,信息科学与工程学院,湖南,长沙,410083;河南理工大学,计算机科学与技术学院,河南,焦作,454003 2. 中南大学,信息科学与工程学院,湖南,长沙,410083 3. 中南大学,信息科学与工程学院,湖南,长沙,410083;韶关学院,计算机科学系,广东,韶关,512003 |
| 摘 要： | 分析了E-Core RD1100干涉型光纤陀螺的误差产生机理, 提出利用RBF神经网络和遗传算法实现光纤陀螺漂移误差模型的辨识. 通过实验获得进化神经网络的训练样本, 在RBF神经网络的训练中, 提出了基于Elitist竞争机制的遗传进化训练方法. RBF神经网络具有很强的局部逼近能力, 而遗传算法具有优良的全局搜索与优化性能, 从而能够有效地对陀螺误差的非线性与时变特征进行建模与辨识. 实验结果表明: 该方法大幅度减少了光纤陀螺的误差, 从而提高了移动机器人导航定位的精度. |
| 关 键 词： | 移动机器人 光纤陀螺 径向基函数神经网络 遗传算法 最优竞争机制 |
| 文章编号： | 1672-7207(2005)05-0745-06 |
| 收稿时间： | 2005-01-28 |
| 修稿时间： | 2005年1月28日 |
Calibration method for heading error of mobile robot based on neural networks identification |
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| YU Jin-xia,CAI Zi-xing,ZOU Xiao-bing,DUAN Zhuo-hua.Calibration method for heading error of mobile robot based on neural networks identification[J].Journal of Central South University:Science and Technology,2005,36(5):745-750. | |
| Authors: | YU Jin-xia CAI Zi-xing ZOU Xiao-bing DUAN Zhuo-hua |
| Institution: | 1. School of Information Science and Engineering, Central South University, Changsha 410083, China; 2. Institute of Computer Science and Technology, Henan Polytechnic University, Jiaozuo 454003, China; 3. Department of Computer Science, Shaoguan University, Shaoguan 512003, China |
| Abstract: | The basis of error occurrence of E-Core RD1100 interferometric fiber optic gyros(FOG) was analysed.Radial basis function neural network(RBFNN) and genetic algorithm(GA) were adopted to realize the identification of error model for FOG.The training samples were obtained by experiments and the genetic evolutionary method based on elitist rule was presented for neural network training.RBFNN has a good capacity of local approximation,while GA is efficient in global optimization.So this method can be used to realize the nonlinear and time-varying error modeling and identification.The experimental results show that it can reduce the error of FOG to a great extent and enhance the localization precision of mobile robot navigation. |
| Keywords: | mobile robot fiber optic gyros radial basis function neural network genetic algorithm elitist rule |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |