Neural networks application in autonomous path generation for mobile robots

Farzad Pourboghrat

doi:10.1117/12.25817

1 March 1991 Neural networks application in autonomous path generation for mobile robots

Farzad Pourboghrat

Proceedings Volume 1396, Applications of Optical Engineering: Proceedings of OE/Midwest '90; (1991) https://doi.org/10.1117/12.25817
Event: Applications of Optical Engineering: Proceedings of OE/Midwest '90, 1990, Rosemont, IL, United States

Abstract

The problem of collision-free path generation for mobile robots is considered This task is formulated into an optimization problem for which a recurrent neural network similar to Hopfield''s is useiL The outputs of the units in the network correspond to the position of some intermediate points on the path which would be connected by straight lines. The steady-state values of the outputs of the units in the network correspond to the coordinates of the position of the intermediate points on the shortest collision-free path to the targets To derive the dynamics of the network first an eneri function corresponding to the distance from the target the total length of the path and the degree of closeness to the obstacles is derived1 The dynamics of the network is then derived according to a gradient descent algorithms 1 .

Citation Download Citation

Farzad Pourboghrat "Neural networks application in autonomous path generation for mobile robots", Proc. SPIE 1396, Applications of Optical Engineering: Proceedings of OE/Midwest '90, (1 March 1991); https://doi.org/10.1117/12.25817

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