Non-learning artificial neural network approach to motion planning for the Pioneer robot

  title={Non-learning artificial neural network approach to motion planning for the Pioneer robot},
  author={Dave Erickson},
  journal={Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)},
  pages={112-117 vol.1}
  • D. Erickson
  • Published 8 December 2003
  • Computer Science
  • Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
This paper describes the implementation of a biologically-inspired non-learning artificial neural network for robot motion planning on the Pioneer 2DX robot. This motion planner fits within the Saphira operating system. The deliberative ANN motion planner is able to respond to changing situations in real time and complements the reactive behaviours. 

Figures and Tables from this paper

Motion Planning Of an Autonomous Mobile Robot Using Artificial Neural Network

The paper presents the electronic design and motion planning of a robot based on decision making regarding its straight motion and precise turn using Artificial Neural Network (ANN). The ANN helps in

Evolutionary Approach for Mobile Robot Path Planning in Complex environment

The problem of finding the optimal collision free path in complex environments for a mobile robot is solved using a hybrid neural network, Genetic Algorithm and local Search method and a novel representation of solutions for evolutionary algorithms that is efficient, simple and also compatible with Hybrid algorithm.

Classic and Heuristic Approaches in Robot Motion Planning A Chronological Review

This paper reviews the major contributions to the Motion Planning field throughout a 35-year period, from classic approaches to heuristic algorithms, and concludes with comparative tables and graphs demonstrating the frequency of each MP method’s application.

Intelligent Multi-robot Cooperation for Target Searching and Foraging Tasks in Completely Unknown Environments

A novel potential field-based fitness function is developed for the PSO algorithm structure to provide with the exploration priority evaluation for undetected areas, and an improved PPSO approach with dynamic parameter tuning is developed to handle tasks in complex environments.

Deployment of mobile robots with energy and timing constraints

A speed-management method is proposed to decide the traveling speeds to maximize the traveling distance under both energy and timing constraints, and a approach to consider areas with random obstacles is provided.

An Adaptive Delay-Minimized Route Design for Wireless Sensor-Actuator Networks

The proposed PROUD offers delay-minimized routes for actuators and adapts well to network dynamics and sensors with non-uniform weights and evenly distributes the energy consumption of the actuators.

Robot Localization With DASH7 Technology

The results indicate that DASH7 can be used for robot localization, solving the robot localization problem and achieving the same level of accuracy as laser range finder based localization, while using less processing power.

A case study of mobile robot's energy consumption and conservation techniques

A case study of a mobile robot called Pioneer 3DX is presented, which shows that motion consume less than 50% power on average, and two energy-conservation techniques are introduced: dynamic power management and real-time scheduling.



Neural network approaches to real-time motion planning and control of robotic systems

A framework, based on biologically inspired neural networks, is developed for real-time robot motion planning with obstacle avoidance in a nonstationary environment and an efficient neural network based approach to real- time fine motion control of robot manipulators with completely unknown robot dynamics and subject to significant uncertainties is presented.

An efficient neural network model for path planning of car-like robots in dynamic environment

  • Simon X. YangM. Meng
  • Computer Science
    Engineering Solutions for the Next Millennium. 1999 IEEE Canadian Conference on Electrical and Computer Engineering (Cat. No.99TH8411)
  • 1999
The stability and convergence of the neural network system is proved using Lyapunov stability analysis, and the effectiveness and efficiency of the proposed approach are demonstrated through simulation studies.

Blending reactivity and goal-directedness in a fuzzy controller

A fuzzy controller for such a mobile robot that can take abstract goals into consideration is described that has been implemented in the SRI mobile robot Flakey, resulting in extremely smooth and reliable movement.

Robot motion planning

  • J. Latombe
  • Geology
    The Kluwer international series in engineering and computer science
  • 1991
This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.

Contour Enhancement, Short Term Memory, and Constancies in Reverberating Neural Networks

It is suggested that competition solves a sensitivity problem that confronts all cellular systems: the noise-saturation dilemma.

A quantitative description of membrane current and its application to conduction and excitation in nerve.

This article concludes a series of papers concerned with the flow of electric current through the surface membrane of a giant nerve fibre by putting them into mathematical form and showing that they will account for conduction and excitation in quantitative terms.

Contour Enhancement , Short Term Memory , and Constancies in Reverberating Neural Networks

A model of the nonlinear dynamics of reverberating on-center off-surround networks of nerve cells, or of cell populations, is analysed and applications to seizure and hallucinatory phenomena, to position codes for mo~or control, to pattern discrimination, to influences of novel events on storage of redundant relevant cues, and to the construction of a sensory-drive heterarchy are mentioned.

Using Fuzzy Logic for Mobile Robot Control

This chapter describes the fuzzy-logic solutions developed on Flakey, the mobile robot of SRI International, and discusses how fuzzy logic techniques can be used to address some of these difficulties.

The Saphira architecture: a design for autonomy

It is shown how the ability to attend to another agent, to take advice about the environment, and to carry out assigned tasks are integrated in the Saphira architecture using the concepts of coordination of behaviour, coherence of modelling, and communication with other agents.

Operation Manual for the Pioneer Mobile Robot, SRIReport

  • 1995