基于改进T-S型模糊神经网络的护士机器人行为控制研究  

Research of Behavior Control Based on Modified T-S-type Fuzzy Neural Network for Robotic Nurse

作　　者：赵文斐[1] 周风余[1] 台述鹏[1] 王小龙[1] 

机构地区：[1]山东大学控制科学与工程学院,济南250061

出　　处：《北京联合大学学报》2013年第3期26-30,共5页Journal of Beijing Union University

摘　　要：针对医院环境下的护士机器人,应用行为控制技术保证护士机器人稳定运行并顺利实现一系列功能。采用改进的T-S模糊神经网络算法和机器人本体位姿导航算法,实现医院环境下护士机器人的复杂行为控制的完成。试验及应用表明,该护士机器人具有性能稳定、行为实现准确、实时性高等优点,能较好地满足医院环境下典型的应用要求,具有一定的应用推广价值。Abstract： With the aim of providing robotic nurses for helping patients in the hospital environment, behavior control technology was applied to ensure the stability of the robotic nurse in motion and realize some more advanced capabilities. In order to realize complex behavior control in the hospital environment, modified T-S-type fuzzy neural network algorithm and pose navigation algorithm were applied. Experimental and applied results showed that the robotic nurse had many merit such as reliable performance, accurate and hard real-time realization behavior, and it can better meet the requirements needed for the robotic nurse working in the hospital environment. In reality, it has some potential benefits for applications in related fields.

关 键 词：护士机器人 改进T-S模糊神经网络 位姿导航算法 行为控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]