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题名: Motion planning for climbing robot based on hybrid navigation
作者: Jiang Y(姜勇) ; Wang HG(王洪光) ; Fang LJ(房立金) ; Zhao MY(赵明扬)
作者部门: 机器人学研究室
会议名称: 4th International Conference on Machine Learning and Cybernetics
会议日期: August 18-21, 2005
会议地点: Guangzhou, China
会议主办者: 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
会议录: ADVANCES IN MACHINE LEARNING AND CYBERNETICS
会议录出版者: SPRINGER-VERLAG
会议录出版地: BERLIN
出版日期: 2005
页码: 91-100
收录类别: SCI ; CPCI(ISTP) ; EI
ISSN号: 0302-9743
ISBN号: 3-540-33584-6
摘要: In this paper, a motion planning method for autonomous control of a bipedal climbing robot based on hybrid navigation is presented. The algorithm of hybrid navigation blends the optimality of the trajectory planning with the capabilities in expressing knowledge and learning of the fuzzy neural network. The real task environment of the climbing robot is both known and dynamic. Therefore the trajectory planning is used to search roughly for the optimal trajectories which will lead towards the goal according to prior data. Meanwhile, by the process of the multi-sensor data fusion, the fuzzy neural network is employed in dealing efficiently with the uncertain and dynamic situations. The properties of motion planning based on the hybrid navigation are verified by the computer simulations and experiments.
语种: 英语
产权排序: 1
WOS记录号: WOS:000238282100010
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8793
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
姜勇; 王洪光; 房立金; 赵明扬.Motion planning for climbing robot based on hybrid navigation.见:SPRINGER-VERLAG.ADVANCES IN MACHINE LEARNING AND CYBERNETICS,BERLIN,2005,91-100
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