A Neural Dynamic Path Planner for a Nonholonomic Mobile Robot

摘要：

In this paper, a neural dynamic approach is proposed to generate a smooth and collision-free path for an autonomous nonholonomic mobile, robot. In the proposed model, the robot behaviors suck as target acquisition and obstacle avoidance are controlled by two planning variables, the heading direction and the forward velocity of the robot. The dynamics of these planning variables are characterized by a biologically inspired neural dynamics model, which in formulated through attractive or repulsive forces. The path generation and movement control are achieved by using the dynamics of heading direction and forward velocity of the robot.

作者: Heting Xu Simon X. Yang Gordon L. Hayward David K.Y. Chiu

作者单位: School of Engineering,University of Guclph, Guclph, Ontario, NIG 2W1, Canada Department of Computing and Information Science University of Guclph, Guclph, Ontario, NIG 2W1, Cana

会议类型: 国际会议

会议名称: 8th International Conference on Neural Information Processing(ICONIP 2001)(第八届国际神经信息处理大会)

会议地点: 上海

会议语种:英文

页码: 1177-1182

在线出版日期: 2001-11-14（万方平台首次上网日期，不代表论文的发表时间）