3D PATH PLANNING FOR MOBILE ROBOTS USING SIMULATED ANNEALING NEURAL NETWORK

被引：0
|
作者：
Kroumov, Valeri [1 ]
Yu, Jianli [2 ]
Shibayama, Keishi [3 ]
机构：
[1] Okayama Univ Sci, Dept Elect & Elect Engn, Okayama 7000005, Japan
[2] Zhongyuan Univ Technol, Dept Elect & Informat, Zhengzhou 450007, Peoples R China
[3] Elect Power Dev Co Ltd, Chuo Ku, Tokyo 1048165, Japan
来源：
INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL | 2010年 / 6卷 / 07期
关键词：
Path planning; Mobile robots; Artificial annealing; Unmanned vehicles;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a highly efficient potential field-based 3D path planning technique for mobile robots, moving in a known environment. The path planner is based on a direct description of the obstacles by simulated annealing neural networks. The generated paths are piecewise linear with direction changes at the corners of the obstacles. The proposed planner can be successfully applied to snake robots, flying robots, and control of Gantry cranes. Several simulation results show the effectiveness of the proposed algorithm.
引用
收藏
页码：2885 / 2899
页数：15
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