NDLI: A potential function and artificial neural network for path planning in dynamic environments based on self-reconfigurable mobile robot system

Content Provider	IEEE Xplore Digital Library
Author	Bin Li Jian Chang Chengdong Wu
Copyright Year	2012
Description	Author affiliation: Grad. Sch. of Chinese Acad. of Sci., Beijing, China (Jian Chang) \|\| Sch. of Inf. Sci. & Eng., Northeast Univ., Shenyang, China (Chengdong Wu) \|\| Robot. Lab. of Chinese, Shenyang Inst. of Autom. (SIA), Shenyang, China (Bin Li)
Abstract	A dynamic environment is defined that either the obstacles or the goal or both are in motion. There are many methods to deal with the problems of the path planning of the robot in dynamic environment. In the case of the dynamic environment, one method for path planning is to take the velocity of the goal and obstacles into account. In this paper, we propose a method for path planning in dynamic environments that uses a potential function which indicates the probability that a robot will collide with an obstacle. The traditional potential function method has many shortcomings that are not suitable for the robot in the dynamic environment. So a modified method of potential function is proposed, and artificial neural network (ANN) is also used in order to get the information of velocity and positions of the obstacles and goal. This paper will discuss how to define the attractive force and repulsive force, and how to predict the velocity of the obstacle and the distance between obstacle and the robot.
Starting Page	1
Ending Page	6
File Size	322482
Page Count	6
File Format	PDF
ISBN	9781479901647
e-ISBN	9781479901654
DOI	10.1109/SSRR.2012.6523900
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	ANN potential function robotics path planning
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in