| 机器人路径规划的神经网络算法及优化 |
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| 引用本文： | 王爱民,史庆国,等.机器人路径规划的神经网络算法及优化[J].河北工业大学学报,1999,28(6):13-16. |
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| 作者姓名： | 王爱民 史庆国 |
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| 作者单位： | 河北工业大学机械学院!天津３００１３０ |
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| 摘 要： | 开发了一种基于碰撞罚函数的移动机器人路径规划神经网络算法，充分利用社会网络的融合性和并行性提高移动机器人路径规划算法的运算速度，取得了显著效果，并提出了局部部径修正和路径“张紧”两种算法，有效的解决了局部路径微小碰撞和最矩路径问题，实现了机器人路径的最优化，最后给仿真结果。
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| 关 键 词： | 路径规划 碰撞罚函数 神经网络 路径最优化 机器人 |
Path Planning and Optimizing Algorithm of Robot Basedon Neural Network |
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| Wang Aimin, Shi Qingguo ,Lu Chenliang.Path Planning and Optimizing Algorithm of Robot Basedon Neural Network[J].Journal of Hebei University of Technology,1999,28(6):13-16. |
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| Authors: | Wang Aimin Shi Qingguo Lu Chenliang |
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| Affiliation: | Wang Aimin; Shi Qingguo ;Lu Chenliang |
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| Abstract: | This psper develops a neural network algorthm of mobile robot's path planning based on collision penalty function, it makes great advantage of properties of its parallel process and data fusion of neuralnetwork to improve calculating speed of the algorithm and get an striking effect. At the same time we propsedtwo algorithms: revising path partially and path tension respectively, it solved local small collision and shortestpath problem and fulfill the optimality of robot's path. At last an emulating experiment is given. |
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| Keywords: | Path planning Collision penalty function Neural network Path optimizing |
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