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This paper proposes a method on path planning for mobile robots in the environment with some unknown obstacles. The whole planner consists of three parts. First, generate the global path from the given start pose to goal pose according to the known map of environment. Then when robot following the planned path, the module of threat assessment check whether or nor there are unknown obstacles in the...
In this paper, Bi-road Method (BRM) is proposed as a new path planning method to generate the shortest collision-free path with consideration of safety from the given start point to goal point for mobile robots working in the static and known 2D environment. While BRM shares the beneficial properties of existing path planning methods based on constructing graph, BRM can guarantee outputting the shortest...
In this paper, a Novel Cellular Neural Network (CNN) entitled the shortest path CNN (SP-CNN) is proposed. It has a good performance in path planning for mobile robots because of its network structure and neural dynamics. The proposed method not only can generate the best solution in static environments in real time but also generate the optional solution in dynamic environments or in unknown environments...
In this paper, a neural network approach named shortest path neural networks (SP-NN) is proposed for real-time on-line path planning. Based on grid-based map and mapping this kind of map to neural networks, this proposed method is capable of generating the globally shortest path from the target position to the start position without collision with any obstacles. The dynamics of each neuron is distinctive...
The paper proposed a method for a quadruped robot control system based central pattern generator (CPG) and fuzzy neural networks (FNN). The common approach for the control of a quadruped robot includes two methods mainly. One is the CPG that is based the bionics, the other is the dynamic control that is based the model of quadruped robot. The control result of CPG is decided by the gait data of the...
The 9-Link dynamic model of a quadruped robot is built with Lagrangian method. Building the model from system view . Simplify the control of a quadruped robot under the four legs full supporting as the problems of tracking control of the truck motion, and the simple model is give. The motion of the robot under four legs full supporting is controlled by robust control. Settling the effect of the external...
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