کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10325226 | 666018 | 2005 | 28 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Intelligent mobile manipulator navigation using adaptive neuro-fuzzy systems
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
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چکیده انگلیسی
A modular fuzzy navigation method in changing and dynamic unstructured environments has been developed. For a manipulator arm, we apply the robust adaptive fuzzy reactive motion planning developed in [J.B. Mbede, X. Huang, M. Wang, Robust neuro-fuzzy sensor-based motion control among dynamic obstacles for robot manipulators, IEEE Transactions on Fuzzy Systems 11 (2) (2003) 249-261]. But for the vehicle platform, we combine the advantages of probabilistic roadmap as global planner and fuzzy reactive based on idea of elastic band. This fuzzy local planner based on a computational efficient processing scheme maintains a permanent flexible path between two nodes in network generated by a probabilistic roadmap approach. In order to consider the compatibility of stabilization, mobilization and manipulation, we add the input of system stability in vehicle fuzzy navigation so that the mobile manipulator can avoid stably unknown and/or dynamic obstacles. The purpose of an integration of robust controller and modified Elman neural network (MENN) is to deal with uncertainties, which can be translated in the output membership functions of fuzzy systems.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Information Sciences - Volume 171, Issue 4, 13 May 2005, Pages 447-474
Journal: Information Sciences - Volume 171, Issue 4, 13 May 2005, Pages 447-474
نویسندگان
Jean Bosco Mbede, Pierre Ele, Chantal-Marguerite Mveh-Abia, Youssoufi Toure, Volker Graefe, Shugen Ma,