【作者】 刘国栋； 吕福生； 谢宏斌；

【Author】 LIU Guo-dong L(U|¨) Fu-sheng XIE Gong-bin (College of information engineering,Southern Yangze university,Jiangsu wuxi ,214036)

【机构】 江南大学通信与控制工程学院； 总装备部科研一所；

【摘要】 动态环境中,移动机器人的动态路径规划是一个较难解决的课题。本文提出一种基于神经网络的移动机器人的路径规划方法。该方法采用了一种离散化的方法逼近能量的负梯度方向,从而确定路径点集的运动趋向。该方法充分挖掘可应用神经网络方法解决移动机器人动态路径规划的潜力。通过计算机仿真表明该控制方法具有良好的动态路径规划能力。更多还原

【Abstract】 In the dynamic environment,mobile robot’s dynamic path planning lesson is difficult to solve.The paper proposed a method of path planning based on nerural network..A discrete method is adopted to approximate the minus gradient direction in order to determine the motion tendency of the point set. The method fully tap the latent power of making use of genetic arithmetic to solve dynamic path planning problem of mobile robot. By the computer simulation experiment ,the method is proved to have good path planning ability.更多还原