2-degree-of-freedom robot path planning using cooperative neural fields

Authors:
Michael Lemmon
Affiliations:
Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN 46556 USA
Venue:
Neural Computation
Year:
1991

Citing 6
Cited 1

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International Journal of Robotics Research
Parallel and distributed computation: numerical methods

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The dynamic wave expansion neural network model for robot motion planning in time-varying environments

Neural Networks

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Abstract

This paper proposes a neural network solution to path planning by two degree-of-freedom (DOF) robots. The proposed network is a two-dimensional sheet of neurons forming a distributed representation of the robot's workspace. Lateral interconnections between neurons are cooperative, so that the field exhibits oscillatory behavior. This paper shows how that oscillatory behavior can be used to solve the path-planning problem. The results reported show that the proposed neural network finds the variational solution of Bellman's dynamic programming equation.