0
TECHNICAL PAPERS

Dynamic Path Planning for Robot Navigation Using Sonor Mapping and Neural Networks

[+] Author and Article Information
Won Soo Yun, Dong Woo Cho

Pohang University of Science and Technology, San 31 Hyoja-dong, Pohang, 790-784, Korea

Yoon Su Baek

Department of Mechanical Design & Production Engineering, Yonsei University, Seoul 120-749, Korea

J. Dyn. Sys., Meas., Control 119(1), 19-26 (Mar 01, 1997) (8 pages) doi:10.1115/1.2801208 History: Received July 01, 1995; Online December 03, 2007

Abstract

This paper presents a new path planning algorithm for safe navigation of a mobile robot in dynamic as well as static environments. The certainty grid concept is adopted to represent the robot’s surroundings and a simple sensor model is developed for fast acquisition of environmental information. The proposed system integrates global and local path planning and has been implemented in a partially known structured environment without loss of generality for an indoor mobile robot. The global planner finds the initial path based on Dijkstra’s algorithm, while the local planning scheme uses three neural networks to follow the initial global path and avoid colliding with static and moving obstacles. Effectiveness of these algorithms is illustrated through simulation and experiment using a real robot. The results show that the proposed algorithm can be efficiently implemented in a time varying environment.

Copyright © 1997 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In