摘要
基于Takagi -Sugeno(T -S)模型的模糊神经网络不但具有模糊逻辑和神经网络两者的优点 ,又具有很好的学习能力。将基于T -S模型的模糊神经网络的信息融合算法应用在移动机器人的避障运动中 ,采用了多个超声测距传感器探测障碍物的距离和方向 ,经过模糊神经网络信息融合后 ,实现了机器人对障碍物和环境类型的识别以及无冲突的运动。实验表明 :此方法能够使机器人安全避障。
Takagi-Sugeno(T-S) fuzzy neural networks not only has the advantage of fuzzy logic and the neural networks, but also has good learning ability. This paper presents a fusion method for T-S fuzzy neural networks to avoid the obsta cle. Several ultrasonic sensors are used to detect the distance and the direction of the obstacle. The experi ment indicates that the method which is used in avoiding the obstacle of mobile robot is practicable and effective.
出处
《自动化技术与应用》
2005年第2期22-24,共3页
Techniques of Automation and Applications
基金
黑龙江省自然科学基金资助项目 (F0 32 1 )
关键词
移动机器人
模糊神经网络
信息融合
避障
多传感器
Mobile robot
Fuzzy neural
Networks
Information fusion
Avoiding the obstacle
Multisensor
