Adaptive navigation control for a quadruped robot based on ART and fuzzy logic

被引：0
|
作者：
Chen, XD [1 ]
Watanabe, K [1 ]
Kiguchi, K [1 ]
Izumi, K [1 ]
机构：
[1] Saga Univ, Grad Sch Sci & Engn, Fac Engn Syst & Technol, Saga 8408502, Japan
来源：
IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4: 21ST CENTURY TECHNOLOGIES AND INDUSTRIAL OPPORTUNITIES | 2000年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An adaptive navigation control problem is presented for a quadruped robot in cluttered environments. by incorporating the capability of adaptive resonance theory (ART) in stable category recognition into fuzzy logic. control. An ART-based neural network, is introduced as an environment identifier for the purpose of adaptive selection of the adequate rule base for a fuzzy controller. Therefore. the proposed adaptive control scheme for the navigation of the robot is implemented by the adaptive fuzzy rule base in response to changes of the robot's environment. which can be fine observed by the proposed environment identifier. Some simulation, results are presented to illustrate the proposed algorithm.
引用
收藏
页码：626 / 631
页数：6
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