以虚拟机器人手臂开展之方法对障碍空间施予两段式逐步型之群集化(英文)
Two-phase Stepwise Clustering by a Virtual Robot Deploying in an Obstacle Region 陈平和;许维修;冯鼎轩; 1:Department of Electrical Engineering 2:Tungnan University 摘要(Abstract)：

A region filled with stationary and non-stationary obstacles always needs a path,based on clustering all the obstacles,for moving of autonomous robots.This paper provides a method,called"two-phase stepwise clustering" to solve this problem.Phase I uses Dendrogram as an approach for the preliminary clustering in the beginning to avoid misleading of the path start.Phase II links piecewise segments from centers of triangles deployed by neural discrimination.In the simulation,two paths constructed from longitudinal deployment and lateral deployment links each other and thus forms a robot path and also an envelope as clustering obstacles.

关键词(KeyWords)：

Abstract:

Keywords:

基金项目(Foundation):

作者(Author): 陈平和;许维修;冯鼎轩;

Email:


参考文献(References)： [1] QU Zhi-hua,WANG Jing,Clinton E.Plaisted.A New Analytical Solution to Mobile Robot Trajectory Generation in the Presence of Moving Obstacles[J].IEEE Trans.on Robotics,2004,20(6):344-359.[2] TIAN Lian-fang,Curtis Collins.An effective robot trajectory planning method using a genetic algorithm[J].Mechatronics, 2004,14(5):455-470.[3] Maxim A.Batalin,Gaurav S Sukhatme.Coverage,Exploration and Deployment by a Mobile Robot and Communication Network[J].Telecommunication Systems,2004(3):244-257.[4] Mong-ying A.Hsieh,Anthony Cowley,Vijay Kumar,et al.Towards the Deployment of a Mobile Robot Network with End-to-end Performance Guarantees[C]// Norman Caplan.Proc.of IEEE International Conference on Robotics and Automation.Orlando:IEEE Robotics and Automation Society/IEEE International Conference on Robotics and Automation,2006:106-111.[5] Lippman R P.An Introduction to Computing with Neural Nets[M].IEEE ASSP Magazine,1987:4-22. [6] Hagan M T,H B Demuth,M H Beale.Neural Network Design[M].Boston,MA:PWS Publishing,1996:156-173.[7] Sisil Kumarawadu,Keigo Watanabe,Kiyotaka Izumi,et al.Neural Network-based Optimal Adaptive Tracking Using Genetic Algorithm[J].Asian Journal of Control,2006,8(4):372-384. [8] Kosco B.Neural Networks and Fuzzy Systems[M].New Jersey:Prentice-Hall,1992:223-238.[9] Evans M,N Hastings,B Peacock.Statistical Distributions[M].Malden:Wiley-Interscience,2000:98-112.[10] Devroye L.Non-Uniform Random Variate Generation[M].Berlin:Springer-Verlag,1986:174-189.


摘要:
扩展功能
本文信息
PDF全文请访问中国知网下载(495K)