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


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
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