Hybrid navigation for a climbing robot by fuzzy neural network and trajectory planning
文献类型：会议论文
| 作者 | Jiang Y(姜勇) ; Zhao MY(赵明扬); Wang HG(王洪光); Fang LJ(房立金)
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| 出版日期 | 2005 |
| 会议名称 | 4th International Conference on Machine Learning and Cybernetics |
| 会议日期 | August 18-21, 2005 |
| 会议地点 | Canton, China |
| 关键词 | hybrid navigation multi-sensor data fusion fuzzy neural network climbing robot |
| 页码 | 1069-1075 |
| 中文摘要 | In this paper, a hybrid navigation method for the autonomous control of a miniature climbing robot is presented. The method of navigation blends the optimality of the trajectory planning algorithm with the capabilities in expressing knowledge and learning of the fuzzy neural network. The actual task environment of the climbing robot is both known and dynamic. Therefore the trajectory planning is used to search roughly the optimal trajectories towards the goal based the priori data. Meanwhile, by the multi-sensor data fusion process, the fuzzy neural network is employed in dealing properly with the uncertain and dynamic situations. The experiment platform of the miniature climbing robot is also described in the paper. The properties of the hybrid navigation method are verified by the computer simulation. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Systems, Man & Cybernet TCC, Hong Kong Polytechn Univ, Hebei Univ, S China Univ Technol, Chongqing Univ, Sun Yatsen Univ, Harbin Inst Technol, Int Univ Germany |
| 会议录 | Proceedings of 2005 International Conference on Machine Learning and Cybernetics, Vols 1-9
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-9091-1 |
| WOS记录号 | WOS:000235325601075 |
| 源URL | [http://ir.sia.cn/handle/173321/8732]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Jiang Y,Zhao MY,Wang HG,et al. Hybrid navigation for a climbing robot by fuzzy neural network and trajectory planning[C]. 见:4th International Conference on Machine Learning and Cybernetics. Canton, China. August 18-21, 2005. |
入库方式： OAI收割
来源：沈阳自动化研究所
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