Improved Neural Network 3D Space Obstacle Avoidance Algorithm for Mobile Robot
文献类型：会议论文
| 作者 | Tong YC(佟玉闯)1,2,3 ; Liu JG(刘金国)1,2; Liu YW(刘玉旺)1,2
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| 出版日期 | 2019 |
| 会议日期 | August 8-11, 2019 |
| 会议地点 | Shenyang, China |
| 关键词 | Global path planning Obstacle avoidance algorithm Improved neural network algorithm Adaptive variable stepsize Simulated annealing |
| 页码 | 105-117 |
| 英文摘要 | Path planning problems are classical optimization problems in many fields, such as computers, mathematics, transportation, robots, etc., which can be described as an optimization problem in mathematics. In this paper, the mathematical model of obstacle environment is established. The characteristics of neural network algorithm, simulated annealing algorithm and adaptive variable stepsize via linear reinforcement are studied respectively. A new neural network 3D space obstacle avoidance algorithm for mobile robot is proposed, which solves the problem of the computational duration and minimum distance of the traditional neural network obstacle avoidance algorithm in solving the optimal path. According to the characteristics of the improved neural network algorithm, it is fused with a variety of algorithms to obtain the optimal path algorithm that achieves the shortest path distance and meets the requirements of obstacle avoidance security. The simulation experiment of the algorithm is simulated by Matlab. The results show that the improved neural network spatial obstacle avoidance algorithm based on the multiple algorithms proposed in this paper can effectively accelerate the convergence speed of path planning, realize the minimum path distance, and achieve very good path planning effect. |
| 产权排序 | 1 |
| 会议录 | Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-030-27537-2 |
| 源URL | [http://ir.sia.cn/handle/173321/25509]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 中国科学院沈阳自动化研究所 |
| 通讯作者 | Liu JG(刘金国) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 3.University of the Chinese Academy of Science, Beijing 100049, China 4.School of Computing, University of Portsmouth, Portsmouth PO1 3HE, United Kingdom |
| 推荐引用方式 GB/T 7714 | Tong YC,Liu JG,Liu YW. Improved Neural Network 3D Space Obstacle Avoidance Algorithm for Mobile Robot[C]. 见:. Shenyang, China. August 8-11, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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