The Application of Neural Network in Mobile Robot Path Planning

摘要

In this paper, for the problem of mobile robot globle path planning in an environment filled with obstacles whose shapes and positions were known, a kind of paratactically-connected neural networks combined with the Simulated Annealing was used, and brought forward a means of modifying the local path. At last, the globe optimal smooth course was achieved. The computer simulation results showed that the computation is simple, the convergence is fast and the constructed path is optimal, safe and smooth. In addition,simulated experiment on P3-AT wheeled mobile robot indicated that methods above on can get satisfying results.