Calculation Time Reduction for Path Planning of Robot Vehicle Using Neural Networks

• OHTOMO Teruhiko

  Faculty of Engineering, Yamagata University

• OTSUKI Takashi

  Faculty of Engineering, Yamagata University

Bibliographic Information

Other Title

• ニューラルネットを用いた移動ロボット車における軌道生成時間の短縮
• ニューラルネット オ モチイタ イドウ ロボットシャ ニ オケル キドウ セイセイ ジカン ノ タンシュク

Abstract

In this paper, two time shortning methods are proposed in path planning calculation of the autonomous robot vehicle using the neural network. The first method is to automatically set the relay point in order to avoid the local minimum in the generation of optimum route, and the second method is to give initial value of motion command input into the cascaded neural networks from the look-up table learned. These methods used jointly are examined for the effectiveness by applying to the path planning in various environments.<BR>As the results, the effectiveness of the system which used two methods jointly at the start and immediately excluded the restraint of the relay point passage afterwards was clarified.

Journal

• Transactions of the Institute of Systems, Control and Information Engineers

  Transactions of the Institute of Systems, Control and Information Engineers 13 (5), 250-257, 2000

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• neural network
• robot vehicle
• obstacle avoidance
• look-up table
• relay point
• path planning

Details

• CRID: 1390282680141907456
• NII Article ID: 10004473100
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.13.5_250
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 5335015
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I5335015
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed