许海平, 孙茂相, 尹朝万. 基于模糊神经网络的多移动机器人自学习协调系统[J]. 机器人, 1999, 21(4): 260-265..
XU Haiping, SUN Maoxiang, YIN Chaowan. A SELF LEARNING MOTION PLANNING SYSTEM FOR MULTIPLE MOBILE ROBOTS BASED ON FUZZY-NEURO NETWORKS. ROBOT, 1999, 21(4): 260-265..
Abstract：In this paper,we discuss motion planning method for multiple mobile robots in a working environment. In order to move safely in the same workspace,robots must be able to track the velocity accurately deduced by its Planning System .Because of uncertainty of the accurate mathematical model and disturbance of the environment ,it is usually difficult to do so. In the worst case, crash between two robots may occur. A Self-adjusting Motion Planning System ,based on Fuzzy-Neuro networks, is proposed to adjust the actual velocity .Through off-line and on-line learning algorithm,a fuzzy logic controller is constructed to greatly minimize the tracking error, so the safety of the robots can be attained. Simulation results based on the scheme are presented to demonstrate its efficiency.
1 孙茂相, 周明等. 多移动机器人实时最优运动规划. 控制与决策, 1998, 2:125～130 2周 明, 孙茂相, 尹朝万等. 基于专家系统的移动机器人模糊自校正协调系统. 机器人, 1997, 6:426～430 3 Barto A G,Sutton R S, Anderson C W. Neurolike Adaptive Elements That Can Solve Difficult Learning Controlm Problem. IEEET ransaction on System,Man, and Cybernetics, 1988, 13:834～846 4 王仕军, 王树林. 一种用模糊——神经技术建造专家系统的方法. 计算机研究与发展, 1994, 5:17～23
