Neural Network Based Control System for Robots Group Operating in 2-d Uncertain Environment

Abstract

This study is devoted to development of a neural network based control system of robots group. The control system performs estimation of an environment state, searching the optimal path planning method, path planning, and changing the trajectories on via the robots interaction. The deep learning neural networks implements the optimal path planning method, and path planning of the robots. The first neural network classifies the environment into two types. For the first type a method of the shortest path planning is used. For the second type a method of the most safety path planning is used. Estimation of the path planning algorithm is based on the multi-objective criteria. The criterion includes the time of movement to the target point, path length, and minimal distance from the robot to obstacles. A new hybrid learning algorithm of the neural network is proposed. The algorithm includes elements of both a supervised learning as well as an unsupervised learning. The second neural network plans the shortest path. The third neural network plans the most safety path. To train the second and third networks a supervised algorithm is developed. The second and third networks do not plan a whole path of the robot. The outputs of these neural networks are the direction of the robot’s movement in the step k. Thus the recalculation of the whole path of the robot is not performed every step in a dynamical environment. Likewise in this paper algorithm of the robots formation for unmapped obstructed environment is developed. The results of simulation and experiments are presented.