CASIA OpenIR  > 09年以前成果
Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks
Paul J. A. Lever; Fei-Vue Wang; Deqian D. Chen; Xiaobo Shi
Source PublicationJournal of Intelligent and Fuzzy Systems
1995
Volume3Issue:1Pages:31-42
Abstract
;
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.
KeywordFuzzy Logic Neural Networks Robotic
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/15031
Collection09年以前成果
Recommended Citation
GB/T 7714
Paul J. A. Lever,Fei-Vue 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,Fei-Vue Wang,Deqian D. Chen,&Xiaobo 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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