基于模糊神經(jīng)網(wǎng)絡的移動機器人路徑規(guī)劃技術研究.pdf

1、南京理工大學碩士學位論文基于模糊神經(jīng)網(wǎng)絡的移動機器人路徑規(guī)劃技術研究姓名：熊博申請學位級別：碩士專業(yè)：控制理論與控制工程指導教師：陳慶偉郭健20060614^BSllUKT碩士論文ABSTRACTPathPlanningforMobileRobotisoneofthemostcriticaltechnologiesamongalloftheRoboticsresearches。whosechieftaskiStOseekoneoptim

2、alpathundertherobot’SrunningspacealongwhichMobileRobot啪gettOthegoalpointflorastartpointwithoutcollisionandthecoStassignedcausedbyrobotmovingtotheendpointalongthiswayissmallestBased011mobilerobotASR，thepaperresearchesPath

3、PlanningforMobileRobot，HrstthepaperexpatiatesthetheoriesandalgorithmsofGlobalPathPlanningandLocalPathPlanningOnthebaseofASRthepaperintroducesthekinematicmodelofmobilerobotdrivingbythedifferenceofthetwowheelsThenOilthebas

4、isofkinematicmodel，thepapercalculatesthepositionandangleoftherobot，andcarriesontheexperimentation。theexperimentconfirmsthemethodiseffectiveTosolvethePathPlanningwhentheworkingenvironmentisknown，thepaperadvancesonemodifie

5、dartificialpotentialfieldapproachusingwhichrobotcangetawayflorathepartialmininlumpointandtheresultofsimulateconfi_rmsthemodifiedapproachisfeasible‘AtlasttosolvetheproblemofpathplanningunderfuUyunknownobstaclesspace，thepa

6、perresearchesthemethodbased011fuzzyneuralnetworkWiththehelpoffuzzy109ic，welransfermtheexactvalueofenvironmentinformationintofuzzyvaluethenbuildsthefuzzyneuralnetworkTheresultofsimulateexperimenteonflnllsthealgorithmcanad