Path planning methods of mobile robot based on neural network

摘要

To investigate the path planning methods of mobile robot in dynamic environment,a method is proposed based on recurrent neural networks in real-time environment.The arrangement of the neurons coincides with the discretized representation of configuration space.The target neuron has the maximal positive neural activity,which is damply promulgated to the whole state space via local lateral connections of neurons.The activities of the neurons,in obstacle fields and the local neighborhoods,are made to zero.The target globally attracts the robot,and the robot can avoid obstacles locally.The robot can generate the optimal trajectory in dynamic environment.Simulation results demonstrate that the method has high adaptability to dynamic environment and real-time ability.