한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)
- 제12권8호
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- Pages.19-26
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- 1995
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
퍼지.신경회로망을 이용한 자율주행 로봇의 경로제어
Path Control of a Mobile Robot Using Fuzzy-Neural Hybrid System
- 이병룡 (울산대학교 생산기계공학과) ;
- 이원규 (울산대학교 생산기계공학과) ;
- 이화조 (한국기계연구원 자동화연구부)
- Lee, B.R. ;
- Lee, W.K. ;
- Yi, H.C.
- 발행 : 1995.08.01
초록
In this paper, a fuzzy-neural hybrid control approach is proposed for controlling a mobile robot that can avoid an unexpected obstacle in a navigational space. First, to describe the global structure of a known environment, a heuristic collision-free space band is introduced. Based on the band, the moving information in the known environment is trained to a neural controller. Then, during the execution of a mobile robot navigation moving information at each position is given the neural controller. If the mobile robot encounters an unexpected obstacle, a fuzzy controller activates to avoid the unexpected obstacle. Finally, some numerical examples are presented to demonstrate the control algorithm.