索胜军, 陈伟, 边信黔. 基于FPN的水下机器人智能控制中的协调级规划[J]. 机器人, 2001, 23(4): 289-293..
SUO Sheng-jun, CHEN Wei, BIAN Xin-qian. COORDINATE LEVEL PROGRAMMING IN INTELLIGENT CONTROL OF UNDERWATER VEHICLE BASED ON FUZZY PETRI NET. ROBOT, 2001, 23(4): 289-293..
摘要针对海洋空间对接水下机器人作业过程用常规方法难以控制的情况，引入了分层递阶智能控制方法；将模糊推理规则与佩特里网相结合的FPN（Fuzzy Petri Net）用于水下机器人分层递阶智能控制的协调级规划中，使它能更好的反映出控制过程的事件驱动、时间驱动和模糊信息等特性．
Abstract：Aim at the condition that the task process of underwater vehicle is hard to control in common method, hierarchical intelligent control is introduced. FPN,which is the integration of PN and Fuzzy reasoning, is used in design of coordinate level of hierarchically intelligent control. It made the control process better in reflecting time driven、event-driven and fuzzy information characteristics.
[1] 孙增圻等.智能控制理论与技术.清华大学出版社. 西安科学技术出版社,1997 [2] George.Saridis Intelligent Robotic Control. IEEE Trans On AC, 1983, AC-28(5): 547-557 [3] Fei Yue Wang, et al. Coordination Specification for a Robotic Platform Sy stem. Proceeding of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, 79-86 [4] David Andreu et al. Fuzzy Petri Net-Based Programmable Logic Controller. IEEE Trans On SMC Part B,1997,27(6): 952-961 [5] Fei Yue Wang, et al. Coordination Structure for Specification of Integra tion in Intelligent Machines, Proceedings of the 1991 International Conference on Robotics and Automation, 1991: 2690-2695
