Artificial neural network based mobile robot navigation

摘要

This paper describes a dynamic artificial neural network based mobile robot motion and path planning system. The method is able to navigate a robot car on flat surface among static and moving obstacles, from any starting point to any endpoint. The motion controlling ANN is trained online with an extended backpropagation through time algorithm, which uses potential fields for obstacle avoidance. The paths of the moving obstacles are predicted with other ANNs for better obstacle avoidance. The method is presented through the realization of the navigation system of a mobile robot.