Research and realization of dynamic neural network navigation algorithm for mobile robot

摘要

For the navigation of Pioneer3-DX mobile robot in unknown environment,we propose a self-navigation strategy with learning reinforcement,and develop the navigation algorithm based on the dynamical neural network.The dynamically self-organizing neural network can automatically adjust its structure according to the complexity of the working environments of the mobile robot to realize the mapping between environmental states and robot actions,effectively avoiding the dimension explosion in learning reinforcement.Simulations and real robot navigation experiments are carried out;results show that the proposed method is effective in applications.It gives a better navigation performance than that of the artificial potential-field method.