FAST ALGORITHM FOR PATH PLANNING BASED ON NEURAL NETWORK
YU Jian-li1, KROUMOV Valeri2, SUN Zeng-qi3, NARIHISA Hiroyuki4
1. Department of Mathematics, Luoyang Institute of Technology, Luoyang 471039; 2. Department of Electronic Engineering, Faculty of Engineering, Okayama University of Science, 1-1 Ridai-cho, 700-0005 Japan; 3. Department of Computer Science & Technology, State Key Lab of Intelligent Technology & Systems, Tsing hua University, Beijing, 100084; 4. Department of Information & Computer Engineering, Faculty of Engineering, Okayama University of Science, 1-1 Ridai-cho, 700-0005 Japan
Abstract：In this paper,the problem of global path planning is studied for a moving robot in an environment filled with obstacles whose shapes and positions are known. An aggressive algorithm for path planning is presented. The obstacles are described by an energy function defined using neural networks; different path generating equations are used,depending on whether the path points lie inside or outside the obstacles,which allows high speed of the calculations and fast convergence. The simulation results show that the computation is simple,some local minimum problems can be avoided,and the constructed path is optimal and piecewise linear.
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