Path Planning for a Mobil Robot in an Unkonwn Environment By Recurrent Neural Networks

Please enable javascript in your browser.

Hassanzadeh, Mohammad | 2010

521 Viewed

Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 41790 (02)
University: Sharif University of Technology
Department: Mathematical Sciences
Advisor(s): Zarei, Alireza; Malek, Alaeddin
Abstract:
Path planning of a robot inside an environment with obstacles is to determine an appropriate path for moving from an initial point to a destination without colliding the obstacles. The main considerations in selecting such a path are its length and simplicity in terms of links or turn angles. In this paper, we study this problem for a point robot in the plane and our goal is to minimize the path length. We solve this problem by converting it to an optimization problem and solving the resulted optimization problem by a recurrent neural network. According to the implementation results, the obtained path is a proper approximation of the minimum length path, especially when obstacles are not too close together
Keywords:
Routing ; Mobile Robot ; Recurrent Neural Networks ; Constrained Optimization

No TOC