Study on the Robot Path Planning Based on Fuzzy Neural Network Algorithm

摘要

Path planning is one of the key technologies for mobile robot researches. Based on the study of fuzzy theory and neural network,a new algorithm namely fuzzy neural network is proposed. Fuzzy neural network-FNN can not only perform parallel processing and self learning,as what NNs can do,but also process fuzzy information and perform fuzzy reasoning,as what fuzzy theory can do. The fuzzy neural network-FNN is used for designing routes of mobile robots,and respective advantages of fuzzy theory and NNs are fully utilized,then the optimum route from start point to object point is obtained. In conditions where environmental information is unknown and static,simulation experiment is conducted and the results indicate that this algorithm is efficient and has fast convergence rate,which helps to improve the intelligence level of mobile robots in an efficient way.