An improved neural network based fuzzy self-adaptive KALMAN filter and its application in cone picking robot

摘要

Aimed to improve the working efficiency of cone picking robot and release workers from heavy manual labor, a novel RBF neural network based fuzzy self-adaptive KALMAN filter is presented in the paper. The position and object input voltage are taken as the inputs of the RBF neural network model. Consider that the traditional BP algorithm has shortcomings of converging slowly and easily trapping a local minimum value, a combination learning algorithm using fuzzy self-adaptive KALMAN filter is adopted to train the neural network. The sample data obtained from the 3D laser saner and sensors located on the cone picking robot. Experimental results show that it will enable the training process with an overall accuracy and rapid convergence speed. The application of the technology in cone picking robot automatic control system proves it is an effective method and has certain project value.