碩士 / 國立交通大學 / 電機與控制工程系所 / 93 / The thesis presents a design of behavior-fusion architecture for mobile robot navigation. We first design three behaviors for robot navigation, including obstacle avoidance, wall following, and goal seeking using fuzzy-logic control approach. Then, the fusion weight of each behavior is determined by using the proposed behavior-fusion neural network. The neural network maps the current environment sensor data to suitable fusion weights. Both computer simulation and practical experiments verify the effectiveness of the method.
| Identifer | oai:union.ndltd.org:TW/093NCTU5591092 |
| Date | January 2005 |
| Creators | Jean-Yuan Lin, 林鎮源 |
| Contributors | Kai-Tai Song, 宋開泰 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 68 |
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