Mobile Robot Local Path Planning Based on Improved T-S Fuzzy Neural Network

DOI

10.2991/iiicec-15.2015.64How to use a DOI?

Keywords

T-Sfuzzyneural network; local path planning; transformative Gaussian function; modified Bpalgorithm

Abstract

Aiming at the problems that BP algorithm has slow convergence rate and is likely to fall into local minimum point.This paper presents a modified fuzzyneural network whichtakes the distances between the robot and obstacles as input variables, and the velocity and the steering angle of the robot as output variables. Besides, the accurate environmental information can be obtained by fusing theinformation of ultrasonic sensors, and the network parameters can be adjusted by training the network.With the application of Matlab simulationsoftware, the resultshows that the improved fuzzy neural network has good performances in optimizingthe convergence speed,learning speedand stability of the network.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Suying Zhang
AU  - Yankai Shen
AU  - Zexu Sun
PY  - 2015/03
DA  - 2015/03
TI  - Mobile Robot Local Path Planning Based on Improved T-S Fuzzy Neural Network
BT  - Proceedings of the 2015 International Industrial Informatics and Computer Engineering Conference
PB  - Atlantis Press
SP  - 275
EP  - 279
SN  - 2352-538X
UR  - https://doi.org/10.2991/iiicec-15.2015.64
DO  - 10.2991/iiicec-15.2015.64
ID  - Zhang2015/03
ER  -