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神经模糊控制在机器人导航中的应用 被引量:7

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摘要 提出了一种集成B样条模糊网络的控制器,实现了非完整移动机器人在动态环境中的导航控制.该控制器基于机器人和障碍物之间的相对运动建立速度场,从而进行机器人导航;通过B样条模糊网络更新输出力矩实现速度的跟踪,因而能够处理导航中的未知因素,避免碰撞的发生.最后通过李亚普洛夫稳定性理论保证了整个闭环系统的稳定性.
作者 吴垣甫
机构地区 海军驻重庆
出处 《四川兵工学报》 CAS 2009年第5期111-115,共5页 Journal of Sichuan Ordnance
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参考文献15

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