【基於多传感器的鲁棒神经模糊控制在移动机械手动态避障中的应用】JeenBoscoMBEDE.pdf
ADissertationsubmitted toHuazhongUniversityof Science and Technology for the degree of Doctorof PhilosophyinEngineering ROBUSTNEURO-FUZZYMULTISENSOR-BASED MOTIONCONTROLAMONGDYNAMICOBSTACLES FORELECTRICALLYDRIVENMOBILE MANIPULATOR Ph.D.
华中理工大学博士学位论文 I am grateful alsofor thefinancial support provided byFellowshipsfrom the Chinese StateCommitteeofEducation.ColleaguesfromtheIntelligentControlandRoboticsLaboratorydeservementionfor their contribution tothiswork.Inaddition tohiswell-known expertiseinmobile robotics,Dr.
华中理工大学博士学位论文 Abstract Thisthesisfocusesonintelligentmotionplanningbasedonfuzzyrulesin unstructuredenvironmentcontaining dynamicandunknownobstacles,stabilization(overturn prevention)and control,taking into accountactuator dynamics in the modelisationofaroboticarmmountedonanonholonomicmobileplatform.