뉴럴 포텐셜 필드 알고리즘을 이용한 이동 로봇의 지역 경로계획

Abstract

Robot"s technology was very simple and repetitive in the past. Nowadays, robots are required to perform intelligent operation. So, path planning has been studied extensively to create a path from start position to the goal position. In this paper, potential field algorithm was used for path planning in dynamic environments. It is used for a path plan of mobile robot because it is elegant mathematical analysis and simplicity. However, there are some problems. The problems are collision risk, avoidance path, time attrition. In order to resolve path problems, we amalgamated potential field algorithm with the artificial neural network system. The input of the neural network system is set using relative velocity and location between the robot and the obstacle. The output of the neural network system is used for the weighting factor of the repulsive potential function. The potential field algorithm problem of mobile robot"s path planning can be improved by using artificial neural network system. The suggested algorithm was verified by simulations in various dynamic environments.