基于模糊神经网络的移动操作机路径规划方法

A Path Planning Method Based on Genetic Fuzzy Neural Network Model for a Mobile Manipulator

针对复杂工作环境下移动操作机路径规划中存在不确定性环境信息、建模困难、分析计算复杂的问题,采用基于遗传模糊神经网络混合智能控制方法,可实现快速的路径规划,并已应用于半已知环境中的可移动操作机的路径规划,该控制器具有较高的学习速度和良好的收敛性.

In the view of embarrassment of modeling of mobile manipulator and its environment in the conditions of insufficiency and indeterminacy of the information about the environment, applying the techniques based on hybrid intelligence control method with genetic fuzzy neural network and path planning of the mobile manipulator is realized rapidly and it is applied in a mobile manipulator path planning in the partly known environment successfully. The control is provided with higher learning speed and upstanding astringency.