Motion planning of wheeled mobile robots based on heuristic dynamic programming for WCICA 2014 proceedings published by IEEE

Author

Chuanqiang Lian ; Xin Xu

Author_Institution

Coll. of Mechatron. Eng. & Autom., Nat. of Univ. of Defense Technol., Changsha, China

fYear

2014

Firstpage

576

Lastpage

580

Abstract

This paper presents a novel motion planning method, based on heuristic dynamic programming (HDP), applicable to the control of wheeled mobile robots (WMRs). First, a new architecture of motion planning system is proposed, where the motion planner is designed based on the HDP algorithm. Second, we devise a reward function, which is beneficial for improving the planning efficiency. Then, back propagation (BP) neural networks (NNs) are utilized to implement the HDP algorithm for constructing the motion planner. At last, simulation and experimental results demonstrate the validity of the proposed scheme.

Keywords

backpropagation; dynamic programming; mobile robots; neurocontrollers; path planning; BP; HDP; IEEE; NN; WCICA 2014 proceedings; WMR; back propagation neural networks; heuristic dynamic programming; motion planning system; planning efficiency; reward function; wheeled mobile robots; Algorithm design and analysis; Artificial neural networks; Dynamic programming; Mobile robots; Planning; Motion planning; heuristic dynamic programming; wheeled mobile robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2014 11th World Congress on

Type

conf

DOI

10.1109/WCICA.2014.7052777

Filename

7052777