Neural network approach to path planning for two dimensional robot motion
C. Kozakiewicz, M. Ejiri · 2002
A method for robot obstacle avoidance and path planning is proposed. The algorithm is based on a camera image feedback loop utilizing a neural network for image processing. The method can successfully generate collision-free paths in a 2D robot workspace containing randomly-placed polygonal obstacles. The control algorithm is simple and robust and has low computational requirements. Controller simulation implemented on a personal computer can generate collision-free robot paths in real time, requiring approximately 1 sec. per robot move.>