摘要
结合人工引力场原理、比例导航原理和非完整约束控制,研究一种用于自主式移动机器人动态目标跟踪控制算法,提出了移动机器人的模糊进化学习策略,以模糊控制器为基础,通过进化学习来搜索最优控制参数和控制量,并在动态目标跟踪实验中得到验证。
With combination of artificial potential filed theory, proportional navigation theory and non-holonomic control, a novel control strategy for dynamic target control of autonomous mobile robot was presented. An evolutionary algorithm was developed to learning fuzzy rules for optimal solution of tracking control parameters as well as direct velocity output. Experimental results verified the efficiency of the proposed algorithm under dynamic environment.
出处
《武汉理工大学学报》
EI
CAS
CSCD
北大核心
2006年第8期125-127,130,共4页
Journal of Wuhan University of Technology
基金
湖北省自然科学基金(2005ABA269)
武汉市青年科技晨光计划(20045006071-26)
关键词
进化学习
模糊控制
目标跟踪
导航
evolutionary learning
fuzzy control
target tracking
navigation
