基于异构模糊神经网络集成算法的自主车导向控制

A Navigation Controller for Autonomous Land Vehicles Based on Heterogeneous Fuzzy Neural Network Ensemble

设计了基于神经网络的自主车导向控制器,建立了异构模糊神经网络控制器的结构,并由实验数据产生训练样本和验证样本集.该控制器通过精确控制2个驱动轮的差动转速实现路径跟踪.实验结果表明,采用异构模糊神经网络集成算法的导向控制器能够稳定地实现跟踪导向路径的控制功能.

The ALV′s navigation controller that based on back propagation network has been designed,while its heterogeneous fuzzy neural network has been also established,and the training sample and inspection set were brought in the experiment data,so the controller can track fixed route precisely by output of wheels＇ subdivided revolving speed.The test results have showed that the method can control the vehicle stably to track navigation path precisely.