| Popis: |
Aiming at the problems that BP algorithm has slow convergence rate and is likely to fall into local minimum point. This paper presents a modified fuzzy neural network which takes the distances between the robot and obstacles as input variables, and the velocity and the steering angle of the robot as output variables. Besides, the accurate environmental information can be obtained by fusing the information of ultrasonic sensors, and the network parameters can be adjusted by training the network. With the application of Matlab simulation software, the result shows that the improved fuzzy neural network has good performances in optimizing the convergence speed, learning speed and stability of the network. |
