摘要
提出了一种关节式移动机器人自主越障时的障碍识别方法 ,该方法利用模糊神经网络对障碍物进行识别 ,确定障碍的类型和特征 ,并以此来控制移动机器人越障和避障时的行进速度和摆臂的动作 ,开发了在未知环境中障碍物辨识的模糊神经网络系统 .实验证明 。
An obstacle recognition approach was presented, which uses fuzzy neuro network to recognize the obstacles and determine the pattern and feature. It is then used to control the obstacle avoidance and negotiation for an articulated mobile robot. A fuzzy neuro network system was developed for the obstacle recognition and negotiation in unknown environment. The feasibility and effectiveness of the proposed method is demonstrated by testing on our experimental articulated mobile robot.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2002年第3期289-292,共4页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金资助项目 ( 6 9975 0 14 )
关键词
关节式移动机器人
自主越障
模糊神经网络
障碍识别
obstacle recognition
fuzzy neuro network
articulated mobile robot
obstacle negotiation
obstacle avoidance
