한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제23권3호
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  • Pages.94-101
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  • 2006
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

이동로봇의 전역 경로계획을 위한 Self-organizing Feature Map

Self-organizing Feature Map for Global Path Planning of Mobile Robot

  • 정세미 (원광대학교 대학원 기계공학과) ;
  • 차영엽 (원광대학교 공과대학 기계자동차공학부)
  • 발행 : 2006.03.01
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초록

A global path planning method using self-organizing feature map which is a method among a number of neural network is presented. The self-organizing feature map uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are moved toward the input vector On the other hand, the modified method in this research uses a predetermined initial weight vectors of 1-dimensional string and 2-dimensional mesh, 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 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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참고문헌

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