Neural Networks in Mobile Robot Motion | Zendy

Danica Janglová | Zendy

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Neural Networks in Mobile Robot Motion

Author(s) -

Danica Janglová

Publication year - 2004

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5615

Subject(s) - computer science , workspace , motion planning , artificial neural network , mobile robot , path (computing) , robot , artificial intelligence , motion (physics) , robot control , computer vision , computer network

This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of them are allowed to move. We describe our approach to solving the motion-planning problem in mobile robot control using neural networks-based technique. Our method of the construction of a collision-free path for moving robot among obstacles is based on two neural networks. The first neural network is used to determine the “free” space using ultrasound range finder data. The second neural network “finds” a safe direction for the next robot section of the path in the workspace while avoiding the nearest obstacles. Simulation examples of generated path with proposed techniques will be presented

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