A path planning and obstacle avoidance hybrid system using a connectionist network

[摘要] Automated path planning and obstacle avoidance has been the subject of intensive research in recent times. Most efforts in the field of semiautonomous mobile-robotic navigation involve using Artificial Intelligence search algorithms on a structured environment to achieve either good or optimal paths. Other approaches, such as incorporating Artificial Neural Networks, have also been explored. By implementing a hybrid system using the parallel-processing features of connectionist networks and simple localized search techniques, good paths can be generated using only low-level environmental sensory data. This system can negotiate structured two- and three-dimensional grid environments, from a start position to a goal, while avoiding all obstacles. Major advantages of this method are that solution paths are good in a global sense and path planning can be accomplished in real time if the system is implemented in customized parallel-processing hardware. This system has been proven effective in solving two- and three-dimensional maze-type environments.

[发布机构] Rice University

[效力级别] science