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Proceedings Paper

Neural networks application in autonomous path generation for mobile robots
Author(s): Farzad Pourboghrat
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Paper Abstract

The problem of collision-free path generation for mobile robots is considered This task is formulated into an optimization problem for which a recurrent neural network similar to Hopfield''s is useiL The outputs of the units in the network correspond to the position of some intermediate points on the path which would be connected by straight lines. The steady-state values of the outputs of the units in the network correspond to the coordinates of the position of the intermediate points on the shortest collision-free path to the targets To derive the dynamics of the network first an eneri function corresponding to the distance from the target the total length of the path and the degree of closeness to the obstacles is derived1 The dynamics of the network is then derived according to a gradient descent algorithms 1 .

Paper Details

Date Published: 1 March 1991
PDF: 9 pages
Proc. SPIE 1396, Applications of Optical Engineering: Proceedings of OE/Midwest '90, (1 March 1991); doi: 10.1117/12.25817
Show Author Affiliations
Farzad Pourboghrat, Southern Illinois Univ./Carbondale (United States)


Published in SPIE Proceedings Vol. 1396:
Applications of Optical Engineering: Proceedings of OE/Midwest '90
Rudolph P. Guzik; Hans E. Eppinger; Richard E. Gillespie; Mary Kathryn Dubiel; James E. Pearson, Editor(s)

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