CASIA OpenIR  > 09年以前成果
Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks
Paul J. A. Lever; F. Y. Wang; Deqian D. Chen; X. Shi
1995
发表期刊Journal of Intelligent and Fuzzy Systems
卷号3期号:1页码:31-42
摘要This article describes our initial investigation into using
neural networks and fuzzy behaviors for autonomous
excavation control of a robotic front-end-loader-type
mining machine. To utilize the experience and expertise
from skilled human operators, a behavior-control approach
based on fuzzy logic is developed. Nine typical
behavior programs for general excavation tasks are
constructed and implemented with fuzzy logic rules.
Two neural networks are built to assess excavation
situations and then select the corresponding behavior
programs based on force/torque feedback data. Simple
strategies for self-evaluation and fusion of fuzzy behaviors
are presented. To verify the proposed approach,
laboratory experiments are conducted using a
PUMA 560 robot arm, a Zebra force/torque sensor,
and a SUN workstation. Experimental results indicate
that fuzzy behaviors are capable of reacting to unpredicted
events during the excavation process and can complete
the desired excavation goals successfully. © 1995
John Wiley and Sons, Inc.
关键词Robotic
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/14897
专题09年以前成果
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Paul J. A. Lever,F. Y. Wang,Deqian D. Chen,et al. Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks[J]. Journal of Intelligent and Fuzzy Systems,1995,3(1):31-42.
APA Paul J. A. Lever,F. Y. Wang,Deqian D. Chen,&X. Shi.(1995).Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks.Journal of Intelligent and Fuzzy Systems,3(1),31-42.
MLA Paul J. A. Lever,et al."Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks".Journal of Intelligent and Fuzzy Systems 3.1(1995):31-42.
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