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TRAJECTORY CONTROL WITH OBSTACLE AVOIDANCE OF MOBILE ROBOTS BASED ON NEURAL NETWORK
Author(s): 
Pages: 508-512
Year: Issue:  6
Journal: ROBOT

Keyword:  BP神经网络多个及多层避障控制椭圆轨迹;
Abstract: 利用人工神经网络中的二级BP网,模拟智能机器人的两控制参数(左、右轮速)间的函数关系,实现避障轨迹为圆弧或椭圆弧的轨迹控制,并且通过调整椭圆长、短轴大小,能实现多个及多层障碍物的避障控制.该方法的突出特点是方法简单、算法容易实现,使机器人完成多个及多层避障动作时,不滞后于动态环境里其它机器人(障碍物)位置的变化.在仿真实验中,取得了理想的效果.
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