智能系统学报2011，Vol.6Issue(5)：456-463,8.DOI:10.3969/j.issn.1673-4785.2011.05.011
基于神经网络的改进行为协调控制及其在智能轮椅路径规划中的应用
Modified behavior coordination for intelligent wheelchair path planning based on a neural network
摘要
Abstract
It is necessary for legged robots to walk stably and smoothly on rough terrain. In this paper, a desired landing points (DLP) walking method based on preview control was proposed in which an off-line foot motion trace and an on-line modification of the trace were used to enable the robot to walk on rough terrain. The on-line modification was composed of speed modification, foot lifting-off height modification, step length modification, and identification and avoidance of unsuitable landing terrain. A planner quadruped robot simulator was used to apply the DLP walking method. The correctness of the method was proven by a series of simulations using the Adams and Simulink.关键词
机器人/智能轮椅/非结构化环境/路径规划/神经网络/行为协调控制器Key words
legged robot/ preview control/ desired landing points/ planner quadruped robot分类
信息技术与安全科学引用本文复制引用
蒲兴成,张军,张毅..基于神经网络的改进行为协调控制及其在智能轮椅路径规划中的应用[J].智能系统学报,2011,6(5):456-463,8.基金项目
科技部国际合作资助项目(2010DFA12160) （2010DFA12160）
重庆市科委资助项目(CSCT,2010AA2055) （CSCT,2010AA2055）
重庆邮电大学青年基金资助项目(A2009-50). （A2009-50）
