摘要
本文研究环境已知条件下的移动机器人路径规划问题。提出了一种基于人工神经网络的路径规划算法。所提算法可以规划出折线型的最短路径 ,并且计算简单、收敛速度快。将所提算法应用于机器人“Khepera” ,通过模拟实验 。
The problem of path planning is studied for t he case for a mobile robot moving in a known environment. An aggressive algorith m using a description of the obstacles based on a neural network is proposed. Th e algorithm allows to construct an optimal path which is piecewise linear with c hanging directions of the obstacles and the calculation speed for the proposed a lgorithm is comparatively fast. Simulation results and an application to a car_l ike robot 'Khepera' show the effectiveness of the proposed algorithm.
