[1]PU Xingcheng,ZHANG Jun,ZHANG Yi.Modified behavior coordination for intelligent wheelchair path planning based on a neural network[J].CAAI Transactions on Intelligent Systems,2011,6(5):456-463.
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Modified behavior coordination for intelligent wheelchair path planning based on a neural network

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 6 Number of periods: 2011 5 Page number: 456-463 Column: 学术论文—智能系统 Public date: 2011-10-30
Title:
Modified behavior coordination for intelligent wheelchair path planning based on a neural network
Author(s):
PU Xingcheng1;  ZHANG Jun2;  ZHANG Yi2
1.Mathematics and Physics College, Chongqing University of Posts and Telecommunications, Chongqing 400065, China；
2.Automation College, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
Keywords:
robot;  intelligent wheelchair;  unstructured environment;  path planning;  neural network;  behavior coordination control
CLC:
TP24
DOI:
-
Abstract:
In order to solve the poor effects of traditional behaviorbased path planning of intelligent wheelchairs in an outdoor unstructured environment, a new path planning method was proposed in this paper. The new algorithm uses fuzzy logic to design basic control behavior, and on this basis applies a neural network to design behavior coordination by combining a large amount of practical experience. The improved algorithm can combine arbitration mechanisms with fusion mechanisms successfully; it absorbs the major advantage of these two original algorithms and improves response speed of the system while enhancing the control accuracy significantly. On the other hand, the method can identify trap area and control the wheelchair escape from the trap by changing the behavior weights independently, therefore displaying strong artificial intelligence characteristics. The simulation and real experimental results verify that the algorithm is capable of advanced intelligence and can be implemented easily. Additionally, it can be used in an outdoor unstructured environment for robot path planning.
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