Sciweavers

Share
ICRA
2002
IEEE

Integrated Planning and Control of Mobile Robot with Self-Organizing Neural Network

9 years 5 months ago
Integrated Planning and Control of Mobile Robot with Self-Organizing Neural Network
— Despite the many significant advances made in robotics research, few works have focused on the tight integration of task planning and motion control. Most integration works involve the task planner providing discrete commands to the low-level controller, which performs kinematics and control computations to command the motor and joint actuators. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike existing integrated approaches, it produces a sequence of checkpoints instead of a complete path at the planning level. At the motion control level, a neural network is trained to perform motor control that moves the robot from one checkpoint to the next. This method allows for a tight integration between high-level planning and low-level control, which permits real-time performance and easy modification of motion path while the robot is enroute to the goal position.
Kian Hsiang Low, Wee Kheng Leow, Marcelo H. Ang
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Kian Hsiang Low, Wee Kheng Leow, Marcelo H. Ang
Comments (0)
books