基于模糊神经网络的移动机器人自适应行为设计

山东大学学报(工学版) ›› 2010, Vol. 40 ›› Issue (2): 28-33.

基于模糊神经网络的移动机器人自适应行为设计

李贻斌¹,李彩虹^1,2,宋勇¹

1. 山东大学控制科学与工程学院, 山东济南 250061; 2. 山东理工大学计算机科学与技术学院, 山东淄博 255049

收稿日期:2009-09-10 出版日期:2010-04-16 发布日期:2009-09-10
作者简介:李贻斌(1960-),男,山东聊城人,教授,博士,主要研究方向为移动机器人,机器人控制等.E-mail: liyb@sdu.edu.cn
基金资助:
国家自然科学基金资助项目(60675044);山东省自然科学基金资助项目(Z2007G02,Y2007G52)

Adaptive behavior design based on FNN for the mobile robot

LI Yi-bin¹, LI Cai-hong^1,2, SONG Yong¹

1. School of Control Science and Engineering, Shandong University, Jinan 250061, China;
2. School of Computer Science and Technology, Shandong University of Technology, Zibo 255049, China

Received:2009-09-10 Online:2010-04-16 Published:2009-09-10

摘要/Abstract

关键词: 移动机器人, 模糊神经网络, 适应行为, 模糊控制规则

Abstract:

The fuzzy neural network (FNN) controller was formed by combining the fuzzy control and the neural networks. The fuzzy rules were collected automatically by reinforcement Q-Learning (QL) on-line beforehand. The rules were implicitly stored in the FNN after the off-line training. In control applications, the complex search and inference of the rules were unnecessary, and the best adaptive behavior could be produced in the output without looking up the table. The simulation results show that because all training samples are from the trained fuzzy rules, the output is almost the same as the result of the training rules.

Key words: mobile robot, fuzzy neural network, adaptive behavior; , fuzzy control rules

李贻斌1,李彩虹1,2,宋勇1. 基于模糊神经网络的移动机器人自适应行为设计[J]. 山东大学学报(工学版), 2010, 40(2): 28-33.

LI Yi-bin1, LI Cai-hong1,2, SONG Yong1. Adaptive behavior design based on FNN for the mobile robot[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(2): 28-33.

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