| 基于神经网络的移动机器人路径规划 |
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| 引用本文： | 王薇,魏世民,杨月巧,姜运芳,李端玲.基于神经网络的移动机器人路径规划[J].北京工业大学学报,2010,36(9). |
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| 作者姓名： | 王薇 魏世民 杨月巧 姜运芳 李端玲 |
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| 作者单位： | 防灾科技学院,防灾仪器系,北京,101601;北京邮电大学,自动化学院,北京,100876 |
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| 基金项目： | 国家自然科学基金资助项目，国家教育部博士点基金资助项目 |
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| 摘 要： | 针对移动机器人在部分环境信息已知情况下的路径规划问题,运用神经网络动态路径最优算法,研究了基于传感器信息的在线路径规划方法.基于扩展卡尔曼滤波的定位方法融合了多个与机器人状态及环境相关的信息,提高了定位精度.首先建立动态的工作空间信息,基于神经网络的路径规划算法完成机器人的路径规划,根据路径点集运动趋向来调节小车移动,完成了导航的任务.对算法的性能和效率进行了分析,实验表明该方法在障碍物的信息未知的情况下,执行速度快.
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| 关 键 词： | 路径规划 神经网络 扩展卡尔曼滤波器 |
Path Planning for a Mobile Robot using Neural Networks |
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| WANG Wei,WEI Shi-min,YANG Yue-qiao,JIANG Yun-fang,LI Duan-ling.Path Planning for a Mobile Robot using Neural Networks[J].Journal of Beijing Polytechnic University,2010,36(9). |
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| Authors: | WANG Wei WEI Shi-min YANG Yue-qiao JIANG Yun-fang LI Duan-ling |
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| Affiliation: | WANG Wei1,WEI Shi-min2,YANG Yue-qiao1,JIANG Yun-fang1,LI Duan-ling2(1.The Instrument Department,Institute of Disaster Prevention Science and Technology,Beijing 101601,China,2.Automation School,Beijing University of Post and Telecommunications,Beijing 100876,China) |
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| Abstract: | To complete non-collision movement according to the environment information when it is in an unknown,complex,dynamic change condition,a reliable navigation of a mobile robot is demonstrated.The data about the states of the robot is fused using the framework of extended Kalman filter to localize a mobile robot more accurately.After the information of the dynamic workspace is constructed,an algorithm based on neural network is used.The navigation is implemented by adjusting the motion according to the tendenc... |
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| Keywords: | path planning neural network extended kalman filter |
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