摘要
针对数学模型复杂的轮式机器人的转向控制问题 ,使用基于遗传算法的模糊神经网络转向控制方法 .首先建立车辆的神经网络模型 ,然后构造模糊神经网络控制器 ,再用遗传算法寻找模糊神经网络控制器的参数 ,最后提高控制器对速度变化的适应性 .仿真表明 ,该方法可以对机器人的转向进行有效控制 ,效果良好 ,能适应各种不同速度变化 。
As the mathematic model of the wheeled mobile robot is very complicated, a GA (genetic algorithms) fuzzy neural network method is presented for its steering control. A neural network model of the mobile robot is first established. Then a fuzzy neural network controller is constructed, and the GA method is used to find the best control parameters. The controller is then improved to suit the wide range of speeds. Simulation results show that the control strategy can control the mobile robot efficiently.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2003年第2期176-180,共5页
Transactions of Beijing Institute of Technology
关键词
轮式机器人
转向控制
神经网络
遗传算法
模糊控制
wheeled mobile robot
steering control
neural network
genetic algorithms
fuzzy control
