正文描述:《adaptive neuro-fuzzy controler with genetic training for mobile robot control》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、Int.J.ofComputers,Communications&Control,ISSN1841-9836,E-ISSN1841-9844Vol.VII(2012),No.1(March),pp.135-146AdaptiveNeuro-FuzzyControlerWithGeneticTrainingForMobileRobotControlO.Obe,I.DumitracheOlumideObe"Politehnica"UniversityofBucharest,RomaniaE-mail:oluobes@gmail.comIoan
2、Dumitrache"Politehnica"UniversityofBucharest,RomaniaE-mail:ioan.dumitrache@cncsis.ro,idumitrache@ics.pub.roAbstract:Inthispaper,weinvestigatetheuseofadaptivetechniquesintheoptimiza-tionofnavigationofKheperamobilerobotinanunstructuredanddynamicenvironment.Weoptimizetheperf
3、ormanceofoursimplifiedfuzzycontrollerusingneuralnetworkthatutilizesgeneticalgorithmlearning.Theadaptationofthesysteminvolvesthetuningofthecontrolrulestherebytrimmingthecontrolactions,andadjustingthefuzzycontrolleroutputgain.Werealisedanimprovedperformanceinouradaptiveneuro
4、-fuzzycontrollerwithgenetictrainingforvariousimplementedbehavioursontherobot.Keywords:Khepera,fuzzycontroller,neuro-fuzzycontroller,navigation,ge-neticalgorithm.1IntroductionNavigationandobstacleavoidanceareveryimportantissuesforthesuccessfuluseofanau-tonomousmobileroboti
5、nadynamicandunstructuredenvironment.Mobilerobotresearchersaimtobuildanautonomousandintelligentrobotwhichcanplanitsmotioninadynamicen-vironment.Asuccessfuluseofanautonomousmobilerobotdependsonitscontroller.Mobilerobotcontrolisdifficultastheyaresubjectedtonon-holonomic(non-in
6、tegrable)kinematiccon-straintsinvolvingthetimederivatesofconfigurationvariables[12]anddynamicconstraints.Bothanalyticallikepotentialfieldmethodaswellasgraph-basedtechniqueshavebeenusedtosolvethenavigationproblemsofrobotinvolvingbothstaticanddynamicobstacles.But,allsuchmetho
7、dsmaynotbesuitableforon-lineimplementationsduetotheirinherentcomputationalcomplexityandlimitations.Mobilerobotresearchershavecarriedoutvariousresearchesinthisdirectionusingvariousintelligenttechniquesmethodssuchasfuzzylogic,neuralnetworkandgeneticalgorithmandtheirdifferent
8、hybrids.Becauseofthenon-linearkinematicsoftherobot,theuncertaintyinsensorsreadings,andunstructur
显示全部收起
温馨提示:
1. 部分包含数学公式或PPT动画的文件,查看预览时可能会显示错乱或异常,文件下载后无此问题,请放心下载。
2. 本文档由用户上传,版权归属用户,天天文库负责整理代发布。如果您对本文档版权有争议请及时联系客服。
3. 下载前请仔细阅读文档内容,确认文档内容符合您的需求后进行下载,若出现内容与标题不符可向本站投诉处理。
4. 下载文档时可能由于网络波动等原因无法下载或下载错误,付费完成后未能成功下载的用户请联系客服处理。