대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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- Pages.429-432
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- 2003
Complete Coverage Path Planning of Cleaning Robot
- Liu, Jiang (Department of Electrical Engineering, Myongji University) ;
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Kim, Kab-Il
(Department of Electrical Engineering, Myongji University)
;
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Son, Young-I.
(Department of Electrical Engineering, Myongji University)
- 발행 : 2003.11.21
초록
In this paper, a novel neural network approach is proposed for cleaning robot to complete coverage path planning with obstacle avoidance in stationary and dynamic environments. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation derived from Hodgkin and Huxley's membrane equation. There are only local lateral connections among neurons. The robot path is autonomously generated from the dynamic activity landscape of the neural network and the previous robot location without any prior knowledge of the dynamic environment.