基于模糊貝葉斯網(wǎng)絡(luò )算法的智能輪椅避障

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基于模糊貝葉斯網(wǎng)絡(luò )算法的智能輪椅避障
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作者單位:(1.北京工業(yè)大學(xué) 電子信息與控制工程學(xué)院, 北京 100124; ;2.北京工業(yè)大學(xué) 計算智能與智能系統北京市重點(diǎn)實(shí)驗室, 北京 100124; ;3.北京工業(yè)大學(xué) 數字社區教育部工程研究中心, 北京 100124)
作者簡(jiǎn)介:賈松敏(1964-),女,北京人,教授,主要從事模式識別和智能系統方向的研究。[FQ)]
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基金項目:國家自然科學(xué)基金項目(61175087)。

Obstacle Avoidance System for Intelligent Wheelchair Based on Fuzzy Bayesian Neural Network

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(1.College of Electronic and Control Engineering, Beijing University of Technology, Beijing 100124, China; ;2.Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing 100124, China; ;3.Engineering Research Center of Digital Community, Ministry of Education, Beijing 100124, China)[JZ)]

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摘要:

對傳統BP神經(jīng)網(wǎng)絡(luò )模糊邏輯的智能輪椅避障方法在訓練過(guò)程中存在的過(guò)擬合和避障路徑不夠優(yōu)化的問(wèn)題,提出了一種模糊貝葉斯網(wǎng)絡(luò )避障算法以降低神經(jīng)網(wǎng)絡(luò )的復雜度;該算法利用模糊神經(jīng)網(wǎng)絡(luò )對隸屬度函數的參數進(jìn)行自主學(xué)習調整,同時(shí)為增強神經(jīng)網(wǎng)絡(luò )的泛化能力和計算能力,在網(wǎng)絡(luò )目標函數中加入權衰減項,利用貝葉斯原理優(yōu)化神經(jīng)網(wǎng)絡(luò )的結構和權值;仿真和實(shí)機實(shí)驗表明,該算法在訓練結果和避障效果上均優(yōu)于傳統BP神經(jīng)網(wǎng)絡(luò ),提高了智能輪椅避障的實(shí)時(shí)性,優(yōu)化了避障路徑,可滿(mǎn)足用戶(hù)對智能輪椅安全性和舒適性的需求。 

Abstract:

To solve the over-fitting problem caused by traditional obstacle avoidance method of intelligent wheelchair based on fuzzy logic during training process and the obstacle avoidance path is not optimized, we propose a new obstacle avoidance algorithm to reduce the complexity of the neural network in the training process with fuzzy Bayesian network. Fuzzy neural network is utilized to adjust parameters of membership functions. In order to obtain the ability of good generalization and accurate computing, a penalty term is introduced to the objective function to optimize the structure and the weights of neural networks using Bayesian method. Simulation and physical experiments show that this algorithm is better than the traditional BP network in the training process and the obstacle avoidance path is optimized to meet the users’ needs of the comfort and security better.

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賈松敏,王成富,徐濤,張鵬.基于模糊貝葉斯網(wǎng)絡(luò )算法的智能輪椅避障計算機測量與控制[J].,2016,24(5):153-155, 159.

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收稿日期:2015-10-28
最后修改日期:2015-12-04
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在線(xiàn)發(fā)布日期: 2016-07-27
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