Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks
文献类型：期刊论文
| 作者 | Paul J. A. Lever; Fei-Vue Wang ; Deqian D. Chen; Xiaobo Shi
|
| 刊名 | Journal of Intelligent and Fuzzy Systems
 |
| 出版日期 | 1995 |
| 卷号 | 3期号:1页码:31-42 |
| 关键词 | Fuzzy Logic Neural Networks Robotic |
| 英文摘要 | ;
This article describes our initial investigation into using
neural networks and fuzzy behaviors for autonomous
excavation control of a robotic front-end-loader-type
mining machine. To utilize the experience and expertise
from skilled human operators, a behavior-control approach
based on fuzzy logic is developed. Nine typical
behavior programs for general excavation tasks are
constructed and implemented with fuzzy logic rules.
Two neural networks are built to assess excavation
situations and then select the corresponding behavior
programs based on force/torque feedback data. Simple
strategies for self-evaluation and fusion of fuzzy behaviors
are presented. To verify the proposed approach,
laboratory experiments are conducted using a
PUMA 560 robot arm, a Zebra force/torque sensor,
and a SUN workstation. Experimental results indicate
that fuzzy behaviors are capable of reacting to unpredicted
events during the excavation process and can complete
the desired excavation goals successfully. © 1995
John Wiley and Sons, Inc. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/15031]  |
| 专题 | 自动化研究所_09年以前成果 |
| 推荐引用方式 GB/T 7714 | Paul J. A. Lever,Fei-Vue Wang,Deqian D. Chen,et al. Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks[J]. Journal of Intelligent and Fuzzy Systems,1995,3(1):31-42. |
| APA | Paul J. A. Lever,Fei-Vue Wang,Deqian D. Chen,&Xiaobo Shi.(1995).Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks.Journal of Intelligent and Fuzzy Systems,3(1),31-42. |
| MLA | Paul J. A. Lever,et al."Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks".Journal of Intelligent and Fuzzy Systems 3.1(1995):31-42. |
入库方式： OAI收割
来源：自动化研究所
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