Mobile Robot Path Planning considering both the Distance and Safety

거리와 안전도를 고려한 이동 로봇 경로 계획

This paper introduces a path planning technique for a mobile robot in the presence of obstacles. In the technique, workspace is described by regional graph and represented obstacles by the three-layer neural network. And performance cost is defined under consideration both the traveling distance and the safety of a mobile robot. Then a collision-free path is obtained using the neural optimization technique.