王学敏, 程君实, 铁锦程, 陈佳品. 四足步行机器人模糊规则优化算法[J]. 机器人, 1997, 19(5): 360-364.
引用本文: 王学敏, 程君实, 铁锦程, 陈佳品. 四足步行机器人模糊规则优化算法[J]. 机器人, 1997, 19(5): 360-364.
WANG Xuemin, CHENG Junshi, TIE Jincheng, CHEN Jiapin. AN OPTIMIZATION ALGORITHM OF FUZZY RULES FOR QUADRUPED WALKING ROBOT[J]. ROBOT, 1997, 19(5): 360-364.
Citation: WANG Xuemin, CHENG Junshi, TIE Jincheng, CHEN Jiapin. AN OPTIMIZATION ALGORITHM OF FUZZY RULES FOR QUADRUPED WALKING ROBOT[J]. ROBOT, 1997, 19(5): 360-364.

四足步行机器人模糊规则优化算法

AN OPTIMIZATION ALGORITHM OF FUZZY RULES FOR QUADRUPED WALKING ROBOT

  • 摘要: 针对四足步行机器人等多变量系统模糊规则数目过多的问题,提出了一种基于神经网络中Kohonen自组织映射的优化算法.从大量原始模糊规则中迭代辨识出模糊关系,并利用Kohonen网络对其进行聚类变换,最后得到优化了的模糊规则.仿真结果证明了该方法的有效性.

     

    Abstract: In this paper, an optimization algorithm, which is based on the self-organizing mapping of Kohonen's model, is proposed and applied to solve the problem that the fuzzy control rules of quadruped walking robot and other complex multivariable systems are too many. The fuzzy relation is identified from original fuzzy rules, furthermore, it is clustered by using Kohonen's network in order to optimize the fuzzy rules. The effectiveness of the algorithm is demonstrated by the simulation results.

     

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