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圖3中，移動機器人與墻體的距離聯合各聲納相對于移動機器人正前方的角度作為模糊神經網絡的輸入，經過融和判斷來控制移動機器人的動作，靠近墻體或遠離墻體。例如，O#(-90°)測得的數值為208mm，1#(-50°)測得的數值為324mm，2#(一30°)測得的數值為877mm，3#(一10°)測得的數值為1700mm，4#(10°)測得的數值為3000mm，說明移動機器人距離墻體太近，需遠離以避免碰撞，此時移動機器人左輪速度為0.20m/s，右輪速度為O.08m/s。移動機器人采用模糊神經網絡進行沿墻導航控制的均方誤差為0.0014。單一采用航跡推算法的均方誤差為0.0382。由此可見，采用模糊神經網絡進行移動機器人沿墻導航控制，性能大大提高。
本文給出了模糊神經網絡的計算模型，利用BP網絡離線訓練權值。此方法能夠根據移動機器人聲納采集到的信息自動生成模糊隸屬函數，并且自動提取模糊規則，增強了神經網絡的泛化能力和容錯能力。實驗證明了此方法的有效性和可行性，能夠無碰撞地沿墻體行進，并保持一定的距離。
Mitsubishi HF-SP152B
CONTROL TECHNIQUES UNIDRIVE PROFIBUS-DP INTERFACE(UD73)
CONTROL TECHNIQUES CDII-POD USPP CDIIPOD
CONTROL TECHNIQUES DDS-001 USPP DDS001
CONTROL TECHNIQUES DXA-205 NSPP DXA205
CONTROL TECHNIQUES DXA-205 USPP DXA205
Control Techniques DB220 Digit AX Brushless Servo Drive
CONTROL TECHNIQUES DXA-316 USPP DXA316
CONTROL TECHNIQUES DXA-318 USPP DXA318
CONTROL TECHNIQUES DXA-455 USPP DXA455
CONTROL TECHNIQUES DXA-8200 USPP DXA8200
CONTROL TECHNIQUES DXE-4120C NSFP DXE4120C
CONTROL TECHNIQUES AX1MA 2000 / 4000 DRIVE ,USED
CONTROL TECHNIQUES DXE-4120C NSPP DXE4120C
CONTROL TECHNIQUES DXE-4120C USPP DXE4120C
CONTROL TECHNIQUES DXM-316C USPP DXM316C
CONTROL TECHNIQUES DXM-316W NSFP DXM316W
CONTROL TECHNIQUES DXM-316W NSPP DXM316W
CONTROL TECHNIQUES DXM-318 NSPP DXM318
Project Management - Planning and Control Techniques, R
CONTROL TECHNIQUES DXM-430 USPP DXM430
CONTROL TECHNIQUES DXM-6200 USPP DXM6200
CONTROL TECHNIQUES DXM-6300W NSFP DXM6300W
CONTROL TECHNIQUES DXM-6300W USPP DXM6300W
CONTROL TECHNIQUES EN-214-00-000 USPP EN21400000
Arrest Control & Techniques & Big-City Police (3)
CONTROL TECHNIQUES FM-2 USPP FM2
CONTROL TECHNIQUES FX-455 USPP FX455
CONTROL TECHNIQUES FX-6200 USPP FX6200
CONTROL TECHNIQUES MGE-316-CONS-0007 USPP MGE316CONS000
CONTROL TECHNIQUES MGE-4120-CONS-0000 USPP MGE4120CONS0
Electric Motors and Control Techniques - Irving M. Gott
CONTROL TECHNIQUES MHE-4120-CONS-0000 USPP MHE4120CONS0
CONTROL TECHNIQUES TDL-15 NSFP TDL15
CONTROL TECHNIQUES UNI-2203-LV USPP UNI2203LV
CONTROL TECHNIQUES UNI3203LV NSPP UNI3203LV
CONTROL TECHNIQUES TDL-25 USPP TDL25
Control Techniques DC Drive - PUMA SM0176-5013
CONTROL TECHNIQUES TDT-15 USPP TDT15
CONTROL TECHNIQUES DXM-318 USPP DXM318
CONTROL TECHNIQUES 82000000010900 NSFP 82000000010900
Control Techniques Commander CDL 05K 5 HP ICD001
CONTROL TECHNIQUES SP2403-LED NSFP SP2403LED
CONTROL TECHNIQUES EN-208-00-000 SERVO DRIVE **XLNT**
CONTROL TECHNIQUES AX-CEN-004 NSPP AXCEN004
CONTROL TECHNIQUES FCR-025 NSFP FCR025
TOOLS & TECHNIQUES GM COMPUTERIZED ENGINE CONTROLS 1985
A Simplified Technique Of Control Systems Engineering
Control Techniques Unidrive SP1402
Control Techniques Mentor II DC Motor Speed Controller
Advance Techniques Frizz Control Treatment
Control Techniques NTM-330-TONS-KE05 | Servo Motor
CONTROL TECHNIQUES 9500-8603 QUANTUM III DC DRIVE
15-30 HP
CONTROL TECHNIQUES SERVO 190UMB300CACAA MOTOR
EMERSON UNIDRIVE Model SP 1201 Control Techniques
SP UNIDRIVE Model SP 1201 Control Techniques
CONTROL TECHNIQUES SKNEMA1KITA NSFP SKNEMA1KITA
CONTROL TECHNIQUES COMMANDER SE2D200150 AC DRIVE (NEW)
CONTROL TECHNIQUES SP1403-ICD AC SERVO DRIVE **XLNT**
CONTROL TECHNIQUES 200 X 25/50 DC SERVO DRIVE *NIB*
CONTROL TECHNIQUES MDA2B/MDA-2B INTERFACE BOARD*XLNT*
CONTROL TECHNIQUES QUANTUM III SIDE PANELS**XLNT**
(4) DIN3380110B Control Techniques Dinverter Inverters
1.5HP 380/480V 3Ph! All In Great Shape & Tested!
CONTROL TECHNIQUES MDA3/MDA-3 FIELD CONTROLLER**XLNT**
CONTROL TECHNIQUES MDA2/MDA-2 INTERFACE BOARD*XLNT*
CONTROL TECHNIQUES M45/9500-8302 MENTOR/QUANTUM BASE
CONTROL TECHNIQUES 9500-8302 QUANTUM III MID SECTION
CONTROL TECHNIQUES 9500-8303 QUANTUM III MID SECTION
CONTROL TECHNIQUES M75/9500-8303 MENTOR/QUANTUM BASE
CONTROL TECHNIQUES 24009003 NSFP 24009003
Emerson Control techniques FM-3DN P/N 960506-02 rev. A5
CONTROL TECHNIQUES EI-205-00-000 INDEXING SERVO DR *NIB
CONTROL TECHNIQUES DIN3380150BM DINVERTER
CONTROL TECHNIQUES UNI1402 UNIDRIVE 2HP AC DRIVE *XLNT*
Control techniques DXM-205 PN: 861114-50 A3
CONTROL TECHNIQUES TIA-025 NSFP TIA025
Control Techniques NTM-330-CONS-W024 | Servo Motor *NNB
CONTROL TECHNIQUES UNI1403 3HP 460VAC DRIVE **XLNT**
CONTROL TECHNIQUES V400 FLUX VECTOR DRIVE **XLNT**
Multivariable Control System Design Techniques: Dominan
Control Techniques NTE-207-TONS-0000 Servo Motor
CONTROL TECHNIQUES 6180-9007 NSFP 61809007
CONTROL TECHNIQUES 9500-8602 QUANTUM III DC DRIVE*XLNT*
CONTROL TECHNIQUES 566-860-000 20HP MENTOR DRIVE *XLNT*
EMERSON/CONTROL TECHNIQUES COMMANDER CD II 750 *XLNT*
EMERSON/CONTROL TECHNIQUES COMMANDER CD II 220 **XLNT**
CONTROL TECHNIQUES M25R-14ICD 10HP MENTOR II DC DRIVE
Emerson DXE-455C / Control Techniques / MTS servo motor
Parker-Hannifin / Custom Server Motor MPM114FRM-AM
CONTROL TECHNIQUES DXE-4120WB BLESS SERVO MOTOR
CONTROL TECHNIQUES SERVO MGE-455-CONS-0000 MOTOR
CONTROL TECHNIQUES DXM-340C SERVO MOTOR
Control Techniques COMMANDER SE Model SE 11200037 SE1M
CONTROL TECHNIQUES NTE-355-CONS-0000 SERVO MOTOR *NIB*
CONTROL TECHNIQUES NTE-320-CONS-0000 SERVO MOTOR**NIB**
CONTROL TECHNIQUES SE51 NSPP SE51
Warner Control Techniques Seco CDL03 AC Drive 240v 3hp
CONTROL TECHNIQUES SERVO DRIVE
*~AVON~*Advance Techniques Frizz Control Treatment*NEW
Project Management: Planning & Control Techniques, Rory
CONTROL TECHNIQUES DIN 1220150B DRIVE AC ***XLNT***
CONTROL TECHNIQUES EIO005 NSFP EIO005
Control Techniques Dinverter listed 768R (2)
CONTROL TECHNIQUES 9500-8602-R QUANTUM III DC DRIVE*RFB
TOOLS & TECHNIQUES 1987 SUPP GM COMPUTOR ENGINE CONTROL
TOOLS & TECHNIQUES 1986 SUPP GM COMPUTOR ENGINE CONTROL
Emerson/Control Techniques UNI3403 Servo Drive
CONTROL TECHNIQUES LOGICSTICK NSFP LOGICSTICK
Control Techniques AC servo drive SP1401-ICD NEW 1.5hp
Control Techniques FM-3 Emerson Program Module FM3
Project Management: Planning & Control Techniques, Rory
CONTROL TECHNIQUES SE33200550 7.5 HP AC DRIVE 156837
CONTROL TECHNIQUES 9500-8602 QUANTUM III DC DRIVE *NIB*
CONTROL TECHNIQUES OITPC232010 NSFP OITPC232010
CONTROL TECHNIQUES CFOS-005 NSPP CFOS005
CONTROL TECHNIQUES RC-030 USPP RC030
CONTROL TECHNIQUES UD-BV-1 USPP UDBV1
CONTROL TECHNIQUES RU-653 NSPP RU653
2 - OTC Tools & Techniques GM Engine Controls-1985-86
CONTROL TECHNIQUES MDA1 MENTOR/QUANTUM CONTROL BD *XLNT
Body Control: Using Techniques by Lynne Robinson, Josep
Handbook of Remote Control and Automation Techniques
EMERSON/CONTROL TECHNIQUES 566-857-000/M75R-14M**XLNT**
Controls from Within: Techniques for the Treatment of t
CONTROL TECHNIQUES PTOOLS-FM NSFP PTOOLSFM
CONTROL TECHNIQUES UBDV3 USPP UBDV3
CONTROL TECHNIQUES DCN-93825 USPP DCN93825
Numerical Linear Algebra Techniques 4 Systems & Control
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* Increase Motor Efficiency - Conserve Energy *
New Control Techniques Focus 3 Toggle Switch
The Undivided Self: Alexander Technique and the Control
CONTROL TECHNIQUES SSC-06 USPP SSC06
Painless Pain Control NDT Neuro Dynamic Techniques
CONTROL TECHNIQUES SKKEYPADREMOTE NSFP SKKEYPADREMOTE
CONTROL TECHNIQUES SMIOLITE NSFP SMIOLITE
Control Techniques Drive with servo driven air chuck
CONTROL TECHNIQUES, COMMANDER SE AC DRIVE, SE2D200075
CONTROL TECHNIQUES UD51 ENCODER OPTION MODULE **XLNT**
Control Techniques Emerson EN-204-00-000 EN20400000
Emerson/ Control Techniques En-214 En214 Servo Drive
CONTROL TECHNIQUES ITEM # P399-00-000
Advanced Computing Concepts and Techniques in Control E
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