An Improved Spinal Neural System Based Method for Mobile Robot Navigation

被引：1
|
作者：
Ni, Jianjun [1 ]
Yang, Liu [1 ]
Mo, Zhengpei [1 ]
Fan, Xinnan [1 ]
Luo, Chengming [1 ]
机构：
[1] Hohai Univ, Coll IOT Engn, Changzhou 213022, Peoples R China
来源：
FUZZY SYSTEMS AND DATA MINING III (FSDM 2017) | 2017年 / 299卷
基金：
中国国家自然科学基金;
关键词：
Robotic navigation; Behaviour based method; Spinal neural algorithm; Virtual force field; Fuzzy rules;
D O I：
10.3233/978-1-61499-828-0-337
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a kind of behaviour based navigation is studied, which is inspired from the spinal neural system. To deal with the deficiency of the general spinal neural algorithm, the virtual force field (VFF) algorithm is used. In the proposed method, the local obstacle avoidance is realized by the general spinal neural algorithm and the VFF algorithm is used to achieve global navigation by constructing the force environment of the robot. Finally, the simulation experiments are con- ducted and the results show that the real-time performance and the path length of the robot can be optimized by the proposed method.
引用
收藏
页码：337 / 342
页数：6
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