计算机工程与应用 ›› 2010, Vol. 46 ›› Issue (4): 204-205.DOI: 10.3778/j.issn.1002-8331.2010.04.065

• 工程与应用 • 上一篇    下一篇

移动机器人步长调整算法的S函数应用研究

潘欣裕1,2,公维理1,王 俭1,赵鹤鸣2   

  1. 1.苏州科技学院 电子与信息工程学院,江苏 苏州 215011
    2.苏州大学 电子信息学院,江苏 苏州 215021
  • 收稿日期:2008-08-16 修回日期:2008-10-20 出版日期:2010-02-01 发布日期:2010-02-01
  • 通讯作者: 潘欣裕

Sigmoid function application in variable step-size algorithm for mobile robots

PAN Xin-yu1,2,GONG Wei-li1,WANG Jian1,ZHAO He-ming2   

  1. 1.School of Electronics and Information Engineering,Suzhou University of Science and Technology,Suzhou,Jiangsu 215011,China
    2.School of Electronics and Information Engineering,Soochow University,Suzhou,Jiangsu 215021,China
  • Received:2008-08-16 Revised:2008-10-20 Online:2010-02-01 Published:2010-02-01
  • Contact: PAN Xin-yu

摘要: 机器人在对于一些气味源、声源、平衡位置等目标搜索时,为了精确定位,一般采用变步长的算法。根据S函数,设计出了一种新型步长调整算法。与传统的最陡下降法相比,其步长调整速度快,适应外部环境能力强,并且包含了方向信息。实验证明该方法是一种有效的移动机器人步长调整算法。

关键词: S函数, 移动机器人, 步长

Abstract: Variable step-size algorithm is used when the mobile robots work at precise odor or sound source localization tasks.A novel variable step-size algorithm based on the Sigmoid function is proposed.Compared with the traditional steepest descent algorithm,the new algorithm not only modifies the step-size much faster,but also includes the direction information.The result of the experiments shows the efficiency of the new algorithm.

Key words: Sigmoid function, mobile robots, step-size

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