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

doi:10.3778/j.issn.1002-8331.2010.04.065

Computer Engineering and Applications ›› 2010, Vol. 46 ›› Issue (4): 204-205.DOI: 10.3778/j.issn.1002-8331.2010.04.065

• 工程与应用 • Previous Articles Next Articles

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

PAN Xin-yu^1，2，GONG Wei-li¹，WANG Jian¹，ZHAO He-ming²

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

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.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

通讯作者: 潘欣裕

Abstract

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

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

CLC Number:

TP24

PAN Xin-yu^1，2，GONG Wei-li¹，WANG Jian¹，ZHAO He-ming². Sigmoid function application in variable step-size algorithm for mobile robots[J]. Computer Engineering and Applications, 2010, 46(4): 204-205.

潘欣裕^1，2，公维理¹，王俭¹，赵鹤鸣². 移动机器人步长调整算法的S函数应用研究[J]. 计算机工程与应用, 2010, 46(4): 204-205.

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

移动机器人步长调整算法的S函数应用研究

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