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6 October 1998 Path planning for mobile robot using sonar map and neural network
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The purpose of this paper is to present a new approach for path planing of a mobile robot in static outdoor environments. A simple sensor model is developed for fast acquisition of environment information. The obstacle avoidance system is based on a micro-controller interfaced with multiple ultrasonic transducers with a rotating motor. Using sonar readings and environment knowledge, a local map based on weight evaluation function is built for the robot path planing. The path planner finds the local optimal path using the A* search algorithm. The robot is trained to learn a goal-directed task under adequate supervision. The simulation experiments show that a robot, utilizing our neural network scheme, can learn tasks of obstacle avoidance in the work space of a certain geometrical complexity. The result shows that the proposed algorithm can be efficiently implemented in an outdoor environment.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jin Cao, Wen-chuan Chiang, Terrell Nathan Mundhenk, and Ernest L. Hall "Path planning for mobile robot using sonar map and neural network", Proc. SPIE 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, (6 October 1998);


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