Title :
3D path planning for mobile robots using annealing neural network
Author :
Kroumov, Valeri ; Yu, Jianli
Author_Institution :
Dept. of Electr. & Electron. Eng., Okayama Univ. of Sci., Okayama
Abstract :
This paper presents a novel potential field based 3D path planning technique for differential drive mobile robots, moving in known environment. The path planners are based on description of the obstacles by simulated annealing neural networks. The generated paths are piecewise linear with changing directions at the corners of the obstacles. The proposed planner can be successfully applied to snake robots, flying robots, and control of Gantry cranes. Several simulation results show the effectiveness of the proposed algorithm.
Keywords :
collision avoidance; mobile robots; neurocontrollers; piecewise linear techniques; simulated annealing; 3D path planning; differential drive mobile robot; piecewise linear technique; potential field algorithms; simulated annealing neural network; Cranes; Mathematics; Mobile robots; Neural networks; Path planning; Physics; Piecewise linear techniques; Robot control; Simulated annealing; Underwater vehicles;
Conference_Titel :
Networking, Sensing and Control, 2009. ICNSC '09. International Conference on
Conference_Location :
Okayama
Print_ISBN :
978-1-4244-3491-6
Electronic_ISBN :
978-1-4244-3492-3
DOI :
10.1109/ICNSC.2009.4919259
