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| 基于神经网络的移动机器人路径规划 | |
| 引用本文： | 樊长虹,卢有章,刘宏,黄上腾.基于神经网络的移动机器人路径规划[J].计算机工程与应用,2004,40(8):86-89. |
| 作者姓名： | 樊长虹 卢有章 刘宏 黄上腾 |
| 作者单位： | 1. 上海交通大学自动化系,上海,200030 2. 上海交通职业技术学院,上海,200120 3. 上海交通大学计算机系,上海,200030 |
| 摘 要： | 针对移动机器人的未知环境下安全路径规划,论文采用了一种局部连接Hopfield神经网络(ANN)规划器。对任意形状环境,ANN中兼顾处理了“过近”和“过远”来形成安全路径,而无需学习过程。为在单处理器上进行有效的在线路径规划,提出用基于距离变换的串行模拟,加速了数值势场的传播。仿真表明该方法具有较高的实时性和环境适应性。 |
| 关 键 词： | 移动机器人 安全路径规划 神经网络 约束距离变换 |
| 文章编号： | 1002-8331-(2004)08-0086-04 |
Path Planning for Mobile Robot Based on Neural Networks |
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| Fan Changhong,Lu Youzhang,Liu Hong,Huang Shangteng.Path Planning for Mobile Robot Based on Neural Networks[J].Computer Engineering and Applications,2004,40(8):86-89. | |
| Authors: | Fan Changhong Lu Youzhang Liu Hong Huang Shangteng |
| Affiliation: | Fan Changhong 1 Lu Youzhang 2 Liu Hong 3 Huang Shangteng 31 |
| Abstract: | For the safe path planning of a mobile robot in unknown environments,the paper proposes a local linked Hopfield artificial neural network(ANN)planner.For environments of arbitrary shape,without learning process,the ANN plans a safe path with consideration of both″too close″and″too far″.For the effective application on sequential proces-sor to plan a path on-line,the simulation based on constrained distance transformation is proposed to accelerate the propagation of the numerical potential field of the ANN.Simulations demonstrats the method has high real-time ability and adaptability to environments. |
| Keywords: | Mobile robot Safe path planning Neural networks Constrained distance transformation |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |