NDLI: Collision-free path planning with neural networks

Content Provider	IEEE Xplore Digital Library
Author	Lee, S. Kardaras, G.
Copyright Year	1997
Description	Author affiliation: Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA (Lee, S.)
Abstract	We present an efficient path planning approach which represents a path by a series of via points connected by elastic strings that are subject to displacement due to collisions with obstacles as well as constraints pertaining to the domain to which path planning is applied. Obstacle regions are represented by a potential field created by a multilayered neural network. A fast simulated annealing approach is used for local minima problems from the potential field. The automatic generation and removal of via points is incorporated in the path planning approach to ensure collision-free planning regardless of the complexity of the environment (e.g., convex, concave or complicated obstacle regions). Our path planning approach is flexible due to the automatic generation and removal of via points based on the complexity of the domain of the path planning process, efficient due to the use of the necessary via points for the path representation at all times, and massively parallel due to the parallel computation of motions of via points with only local information.
Starting Page	3565
Ending Page	3570
File Size	604677
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.606887
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Neural networks Simulated annealing Computer networks Intelligent robots Concurrent computing Intelligent systems Intelligent networks Propulsion Laboratories
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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