【摘要】 针对机器人局部路径规划的特点和传统人工势场理论存在不足的问题,采用改进的斥力势场函数,将机器人与目标的相对距离和速度考虑在内以解决局部最小值问题。引入神经网络模糊系统,兼顾了系统的鲁棒性和快速性,并在应用实例中得到了有效的验证。更多还原

【Abstract】 According to the character of the robot path planning, we improved the conventional theory of artificial potential field, the relative distance between the robot and the goal was considered to solve the local minimum problem. By introducing neural networks into fuzzy system, the controller takes both system robustness and fastness into account and the effectiveness is verified in application.更多还原