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Identification of abnormal movement state and avoidance strategy for mobile robots 被引量：2

Identification of abnormal movement state and avoidance strategy for mobile robots
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摘要 Abnormal movement states for a mobile robot were identified by four multi-layer perceptron. In the presence ot abnormality, avoidance strategies were designed to guarantee the safety of the robot. Firstly, the kinematics of the normal and abnormal movement states were exploited, 8 kinds of features were extracted. Secondly, 4 multi-layer pereeptrons were employed to classify the features for four 4-driving wheels into 4 kinds of states, i.e. normal, blocked, deadly blocked, and slipping. Finally, avoidance strategies were designed based on this. Experiment results show that the methods can identify most abnormal movement states and avoid the abnormality correctly and timely. Abnormal movement states for a mobile robot were identified by four multi-layer perceptron. In the presence of abnormality, avoidance strategies were designed to guarantee the safety of the robot. Firstly, the kinematics of the normal and abnormal movement states were exploited, 8 kinds of features were extracted. Secondly, 4 multi-layer perceptrons were employed to classify the features for four 4-driving wheels into 4 kinds of states, i.e. normal, blocked, deadly blocked, and slipping. Finally, avoidance strategies were designed based on this. Experiment results show that the methods can identify most abnormal movement states and avoid the abnormality correctly and timely.
作者 蔡自兴 段琢华 章慧团 于金霞
机构地区 School of Information Science and Engineering
出处 《Journal of Central South University of Technology》 EI 2006年第6期683-688,共6页 中南工业大学学报（英文版）
基金 Project (60234030) supported by the National Natural Science Foundation of China
关键词 mobile robot abnormal movement state avoidance strategy 移动式机器人 反常运动状态 辨识方法 规避策略 感知器
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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共引文献15

同被引文献13

  • 1张友旺,桂卫华,赵泉明.基于动态递归模糊神经网络的自适应电液位置跟踪系统[J].控制理论与应用,2005,22(4):551-556. 被引量：15
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Journal of Central South University of Technology
2006年 第6期

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