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Vol: 55(69) No: 2 / June 2010 Obtaining a Smooth Motion for Mobile Robots by Implementing the Yang and Meng’s Neural Network Method Sabina Berinde “Politehnica” University of Timisoara, Department of Automation and Applied Informatics, 300223 Timisoara, Bd. Vasile Parvan 2, Romania, phone: (+40) 0729022484, e-mail: sabinaberinde@gmail.com Keywords: mobile robot, real-time motion planning, biologically inspired neural networks, collision avoidance, dynamic environment. Abstract To obtain smooth trajectories for real-time robot motion planning, using the biologically inspired Yang and Meng’s neural networks, some algorithm improvements are necessary. Based on a deep insight of network behaviour, the paper proposes such improvements and offers the necessary details needed for PC simulator implementation. As main result the zigzag movement of the robot is avoided. References [1] A. L. Hodgkin and A. F. Huxley, “A Quantitative Description Of Membrane Current And Its Application To Conduction And Excitation In Nerve”, J. Physiol. Lond., 117, pp. 500-544, 1952. [2] S. Grossberg, “Nonlinear Neural Networks: Principles, Mechanisms, and Architectures”, Neural networks, Vol. 1, pp 17-61, 1988. [3] S. X. Yang and M. Meng, “Neural Network Application in Robot Motion Planning”, IEEE Pacific Rim Conference on Communications, Computers and Signal Processing, pp 611-614, 1999. [4] S. X. Yang and M. Meng, ”Real-Time Collision-Free Path Planning of Robot Manipulators Using Neural Networks Approaches”, Autonomous Robots 9, Kluwer Academic Publishers, Netherlands, pp 27-39, 2000. [5] S. X. Yang and M. Meng, “Neural Network Approaches to Dynamic Collision-Free Trajectory Generation”, IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, Vol. 31, Issue 3, pp 302 – 318, 2001. [6] S. X. Yang, “A Biologically Inspired Neural Network Approach to Real-Time Map Building and Path Planning”, Computational Intelligence in Control, Masoud Mohammadian, Ruhul Amin Sarker, Xin Yao, Idea Group Publishing, pp 69-86, 2003. [7] S. X. Yang and M. Meng, “Real-Time Collision-Free Motion Planning of a Mobile Robot Using a Neural Dynamics-Based Approach”, IEEE Transactions on Neural Networks, Vol. 14, Nr. 6, pp 1541-1552, 2003. [8] S. X. Yang and C. Luo, “A Neural Network Approach to Complete Coverage Path Planning”, IEEE Transactions on Systems, Man, and Cybernetics – Part B: Cybernetics, Vol. 34, No. 1, pp 718-725, 2004. [9] C. Luo and S. X. Yang, “A Bioinspired Neural Network for Real-Time Concurrent Map Building and Complete Coverage Robot Navigation in Unknown Environments”, IEEE Transactions on Neural Networks, Vol. 19, Nr. 7, pp 1279-1298, 2008. |