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AN EFFICIENT OBSTACLE AVOIDANCE SCHEME IN MOBILE ROBOT PATH PLANNING USING POLYNOMIAL NEURAL
 

Summary: AN EFFICIENT OBSTACLE AVOIDANCE SCHEME IN MOBILE
ROBOT PATH PLANNING USING POLYNOMIAL NEURAL
NETWORKS
Farid Ahmed and C. L. Philip Chen
Wright State University
Computer Science & Engineering Department
Dayton, OH 45435.
Abstract
Application of Polynomial Neural Networks( PNN)
in mobile robot path planning with an obstacle
avoidance scheme is proposed. Given an environ-
ment and a desired goal location (position and and
orientation), PNN's are built from some selected
starting locations to reach this goal. These PNNs
comprise the meniory of our model. An efficient as-
sociative retrieval technique is then applied to make
the robot follow a minimal cost polynomial path.
In the movement, when it faces an obstacle, the
robot uses a contour finding algorithm to get away
from the obstacle. The major advantage of using the

  

Source: Ahmed, Farid - Department of Electrical Engineering and Computer Science, Catholic University of America

 

Collections: Engineering