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Hybrid navigation for a climbing robot by fuzzy neural network and trajectory planning
Jiang Y(姜勇); Zhao MY(赵明扬); Wang HG(王洪光); Fang LJ(房立金)
Department机器人学研究室
Conference Name4th International Conference on Machine Learning and Cybernetics
Conference DateAugust 18-21, 2005
Conference PlaceCanton, China
Author of SourceIEEE Systems, Man & Cybernet TCC, Hong Kong Polytechn Univ, Hebei Univ, S China Univ Technol, Chongqing Univ, Sun Yatsen Univ, Harbin Inst Technol, Int Univ Germany
Source PublicationProceedings of 2005 International Conference on Machine Learning and Cybernetics, Vols 1-9
PublisherIEEE
Publication PlaceNEW YORK
2005
Pages1069-1075
Indexed ByEI ; CPCI(ISTP)
EI Accession number2005509538898
WOS IDWOS:000235325601075
Contribution Rank1
ISBN0-7803-9091-1
KeywordHybrid Navigation Multi-sensor Data Fusion Fuzzy Neural Network Climbing Robot
AbstractIn this paper, a hybrid navigation method for the autonomous control of a miniature climbing robot is presented. The method of navigation blends the optimality of the trajectory planning algorithm with the capabilities in expressing knowledge and learning of the fuzzy neural network. The actual task environment of the climbing robot is both known and dynamic. Therefore the trajectory planning is used to search roughly the optimal trajectories towards the goal based the priori data. Meanwhile, by the multi-sensor data fusion process, the fuzzy neural network is employed in dealing properly with the uncertain and dynamic situations. The experiment platform of the miniature climbing robot is also described in the paper. The properties of the hybrid navigation method are verified by the computer simulation.
Language英语
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8732
Collection机器人学研究室
Affiliation1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016
2.Graduate School, Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Jiang Y,Zhao MY,Wang HG,et al. Hybrid navigation for a climbing robot by fuzzy neural network and trajectory planning[C]//IEEE Systems, Man & Cybernet TCC, Hong Kong Polytechn Univ, Hebei Univ, S China Univ Technol, Chongqing Univ, Sun Yatsen Univ, Harbin Inst Technol, Int Univ Germany. NEW YORK:IEEE,2005:1069-1075.
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