이동로봇의 전역경로계획을 위한 단경로 String에서 당기기와 밀어내기 SOFM을 이용한 방법의 비교

The Comparison of Pulled and Pushed-SOFM in Single String for Global Path Planning of Mobile Robot

  • 차영엽 (원광대학교 공과대학 기계자동차공학부)
  • 발행 : 2008.11.05

초록

In this research uses a predetermined initial weight vectors of 1-dimensional string, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are moved toward or reverse the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.

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