Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks

	Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks
	Paul J. A. Lever; Fei-Vue Wang; Deqian D. Chen; Xiaobo Shi
刊名	Journal of Intelligent and Fuzzy Systems
	1995
卷号	3 期号:1 页码:31-42
关键词	Fuzzy Logic Neural Networks Robotic
英文摘要	; This article describes our initial investigation into using neural networks and fuzzy behaviors for autonomous excavation control of a robotic front-end-loader-type mining machine. To utilize the experience and expertise from skilled human operators, a behavior-control approach based on fuzzy logic is developed. Nine typical behavior programs for general excavation tasks are constructed and implemented with fuzzy logic rules. Two neural networks are built to assess excavation situations and then select the corresponding behavior programs based on force/torque feedback data. Simple strategies for self-evaluation and fusion of fuzzy behaviors are presented. To verify the proposed approach, laboratory experiments are conducted using a PUMA 560 robot arm, a Zebra force/torque sensor, and a SUN workstation. Experimental results indicate that fuzzy behaviors are capable of reacting to unpredicted events during the excavation process and can complete the desired excavation goals successfully. © 1995 John Wiley and Sons, Inc.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/15031]
专题	自动化研究所_09年以前成果
推荐引用方式 GB/T 7714	Paul J. A. Lever,Fei-Vue Wang,Deqian D. Chen,et al. Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks[J]. Journal of Intelligent and Fuzzy Systems,1995,3(1):31-42.
APA	Paul J. A. Lever,Fei-Vue Wang,Deqian D. Chen,&Xiaobo Shi.(1995).Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks.Journal of Intelligent and Fuzzy Systems,3(1),31-42.
MLA	Paul J. A. Lever,et al."Autonomous Robotic Mining Excavation using Fuzzy Logic and Neural Networks".Journal of Intelligent and Fuzzy Systems 3.1(1995):31-42.