动态环境中基于模糊神经网络的机器人路径规划的一种新方法

The Study of Robot's Path Planning in Dynamic Environment Based on Fuzzy Neural Network

动态环境中,移动机器人的动态路径规划是一个较难解决的课题.提出了一种基于模糊概念的动态环境模型和在此模型基础上结合模糊神经网络的机器人路径规划方法.这种方法利用动态环境中物体的信息动态调整模糊神经网络的权值,加快整个神经网络的收敛速度,以达到对机器人的下一步动作进行动态控制的目的.该方法充分挖掘了应用人工神经网络、模糊推理解决移动机器人动态路径规划的潜力,通过计算机仿真表明该控制方法具有良好的动态路径规划能力.

In the dynamic environment,mobile robot's dynamic path planning lesson is difficult to solve.The paper proposes a mathematical model of dynamic environment based on fyzzy concept and a Method of robot's path planning based on fuzzy neural network. This method makes use of the object movement information in the dynamic environment to adjust the neural network well and accelerate the convergency speed of the whole fuzzy neural network. It serves the purpose of implenting mobile robot's dynamic decision.The method fully utilizes the potentials of artifical neural network and fuzzy logic to solve dynamic path planning problem of mobile robot. The computer simulation experiment shows that the method has good path planning ability. 