Improved neural network 3D space obstacle avoidance algorithm for mobile robot

Yuchuang Tong, Jinguo Liu, Yuwang Liu, Zhaojie Ju

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

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.
Original languageEnglish
Title of host publicationIntelligent Robotics and Applications
Subtitle of host publication12th International Conference, ICIRA 2019, Shenyang, China, August 8–11, 2019, Proceedings, Part IV
EditorsHaibin Yu, Jinguo Liu, Lianqing Liu, Zhaojie Ju, Yuwang Liu, Dalin Zhou
PublisherSpringer
Chapter10
Pages105-117
Number of pages13
ISBN (Electronic)978-3-030-27538-9
ISBN (Print)978-3-030-27537-2
DOIs
Publication statusPublished - 3 Aug 2019

Publication series

NameLecture Notes in Computer Science
PublisherSpringer
Volume11743
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349
NameLecture Notes in Artificial Intelligence
PublisherSpringer
Volume11743
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Keywords

  • global path planning
  • obstacle avoidance algrithm
  • improved neural network algorithm
  • adaptive variable stepsixe
  • simulated annealing

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