智能系统学报2011，Vol.6Issue(5)：450-455,6.DOI:10.3969/i.issn.1673-4785.2011.05.010
一种染色体编码新方法的硬件进化
Hardware evolution based on a new chromosome encoding method
摘要
Abstract
In order to solve the poor effects of traditional behavior-based path planning of intelligent wheelchairs in an outdoor unstructured environment, a new path planning method was proposed in this paper. The new algorithm uses fuzzy logic to design basic control behavior, and on this basis applies a neural network to design behavior coordination by combining a large amount of practical experience. The improved algorithm can combine arbitration mechanisms with fusion mechanisms successfully; it absorbs the major advantage of these two original algorithms and improves response speed of the system while enhancing the control accuracy significantly. On the other hand, the method can identify trap area and control the wheelchair escape from the trap by changing the behavior weights independently, therefore displaying strong artificial intelligence characteristics. The simulation and real experimental results verify that the algorithm is capable of advanced intelligence and can be implemented easily. Additionally, it can be used in an outdoor unstructured environment for robot path planning.关键词
硬件进化/染色体编码/FPLA/Verilog硬件语言Key words
robot/ intelligent wheelchair/ unstructured environment/ path planning/ neural network/ behavior coordination control分类
信息技术与安全科学引用本文复制引用
张超,刘峥,赵伟..一种染色体编码新方法的硬件进化[J].智能系统学报,2011,6(5):450-455,6.基金项目
陕西省自然科学基础研究计划资助项目(SJ08F19). （SJ08F19）
