中国物理B ›› 2009, Vol. 18 ›› Issue (10): 4222-4228.doi: 10.1088/1674-1056/18/10/023
温淑焕
Wen Shu-Huan(温淑焕)†
摘要: Collision avoidance is always difficult in the planning path for a mobile robot. In this paper, the virtual force field between a mobile robot and an obstacle is formed and regulated to maintain a desired distance by hybrid force control algorithm. Since uncertainties from robot dynamics and obstacle degrade the performance of a collision avoidance task, intelligent control is used to compensate for the uncertainties. A radial basis function (RBF) neural network is used to regulate the force field of an accurate distance between a robot and an obstacle in this paper and then simulation studies are conducted to confirm that the proposed algorithm is effective.
中图分类号: (Neural networks)