期刊文献+
共找到1篇文章
< 1 >
每页显示 20 50 100
Reactive Navigation of Underwater Mobile Robot Using ANFIS Approach in a Manifold Manner 被引量:5
1
作者 Shubhasri Kundu Dayal R. Parhi 《International Journal of Automation and computing》 EI CSCD 2017年第3期307-320,共14页
Learning and self-adaptation ability is highly required to be integrated in path planning algorithm for underwater robot during navigation through an unspecified underwater environment. High frequency oscillations dur... Learning and self-adaptation ability is highly required to be integrated in path planning algorithm for underwater robot during navigation through an unspecified underwater environment. High frequency oscillations during underwater motion are responsible for nonlinearities in dynamic behavior of underwater robot as well as uncertainties in hydrodynamic coefficients. Reactive behaviors of underwater robot are designed considering the position and orientation of both target and nearest obstacle from robot s current position. Human like reasoning power and approximation based learning skill of neural based adaptive fuzzy inference system(ANFIS)has been found to be effective for underwater multivariable motion control. More than one ANFIS models are used here for achieving goal and obstacle avoidance while avoiding local minima situation in both horizontal and vertical plane of three dimensional workspace.An error gradient approach based on input-output training patterns for learning purpose has been promoted to spawn trajectory of underwater robot optimizing path length as well as time taken. The simulation and experimental results endorse sturdiness and viability of the proposed method in comparison with other navigational methodologies to negotiate with hectic conditions during motion of underwater mobile robot. 展开更多
关键词 Adaptive fuzzy inference system(ANFIS) error gradient optimal path obstacle avoidance behavior steering angle target seeking behavior
原文传递
上一页 1 下一页 到第
使用帮助 返回顶部