A Predictive Human-inspired Path Planning Method Based on the Dynamic Wave Expansion Neural Network (DWENN)
- سال انتشار: 1391
- محل انتشار: نوزدهمین کنفرانس مهندسی پزشکی ایران
- کد COI اختصاصی: ICBME19_097
- زبان مقاله: انگلیسی
- تعداد مشاهده: 1256
نویسندگان
Faculty of Biomedical Engineering Amirkabir University of Technology
Faculty of Biomedical Engineering Amirkabir University of Technology
Faculty of Biomedical Engineering Amirkabir University of Technology
چکیده
A new path planning strategy inspired by human path planning is proposed based on the dynamic wave expansion neural network (DWENN) for moving in dynamic environment. The proposed method performs in two phases. In the first phase, a coarse path is produced by using a DWENN and a cognitive map to represent the environment configuration. In the second phase, to improve the coarse path, a predictive approach is iteratively employed by combination of a locally recurrent neural network (LRNN) and a DWENN to plan a motion vector in a finite prediction horizon and executing it in a control horizon. A task is intended to evaluate the performance of the proposed method in crossing a street which includes a moving car as a dynamic obstacle. In this evaluation, different simulations with various prediction and control horizons have been performed. Our results imply that by applying a predictive method and adjusting the prediction and control horizons, DWENN can satisfactorily generate a collision-free path in dynamic environments.کلیدواژه ها
predictive path planning; the dynamic wave expansion neural network; prediction horizon; contorl horizonمقالات مرتبط جدید
اطلاعات بیشتر در مورد COI
COI مخفف عبارت CIVILICA Object Identifier به معنی شناسه سیویلیکا برای اسناد است. COI کدی است که مطابق محل انتشار، به مقالات کنفرانسها و ژورنالهای داخل کشور به هنگام نمایه سازی بر روی پایگاه استنادی سیویلیکا اختصاص می یابد.
کد COI به مفهوم کد ملی اسناد نمایه شده در سیویلیکا است و کدی یکتا و ثابت است و به همین دلیل همواره قابلیت استناد و پیگیری دارد.