minimum energy trajectories were generated by genetic algorithm, which were used as training samples of three-tier feed forward bp neural network controller 利用遺傳算法生成能量最省軌跡,作為神經(jīng)網(wǎng)絡(luò)訓(xùn)練樣本,利用遺傳算法離線訓(xùn)練前饋三層bp網(wǎng)絡(luò),構(gòu)成前饋神經(jīng)網(wǎng)絡(luò)控制器。