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《Journal of Jiangnan College》 2003-01
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The Study of Robot's Path Planning in Dynamic Environment Based on Fuzzy Neural Network

XIE Hongbin,LIU Guodong,LI Chunguang(College of communication and control engineering,Southern Yangze university,Wuxi 214036, China)   
In the dynamic environment,mobile robot's dynamic path planning lesson is difficult to solve.The paper proposes a mathematical model of dynamic environment based on fyzzy concept and a Method of robot's path planning based on fuzzy neural network. This method makes use of the object movement information in the dynamic environment to adjust the neural network well and accelerate the convergency speed of the whole fuzzy neural network. It serves the purpose of implenting mobile robot's dynamic decision.The method fully utilizes the potentials of artifical neural network and fuzzy logic to solve dynamic path planning problem of mobile robot. The computer simulation experiment shows that the method has good path planning ability. 
【Fund】: 清华大学智能技术与系统国家重点实验室开放性基金项目(0103)资助课题.
【CateGory Index】: TP249
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