郭琦, 洪炳熔. 基于人工神经网络实现智能机器人的避障轨迹控制[J]. 机器人, 2002, 24(6): 508-512..
GUO Qi, HONG Bing-rong. TRAJECTORY CONTROL WITH OBSTACLE AVOIDANCE OF MOBILE ROBOTS BASED ON NEURAL NETWORK. ROBOT, 2002, 24(6): 508-512..
Abstract：The proposed method in the paper simulates the function connection of two control parameters (left and right wheel velocity ) of the mobile robots by two-layer BP network, and implements the trajectory control for trajectory equation being an arc of circle or ellipse. It can implement trajectory control with obstacle avoidance for multi-number or multi-layer obstacles by adjusting the long axes and short axes of the ellipse in length. The evident features of the proposed method are simple in means and are implemented easily in algorithm, so that the completion of obstacle avoidance don't lag the position change of other robots (obstacles) in the dynamic environment. The method is effectual in simulation.
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