1. MOBILE ROBOT PATH PLANNING USING CNN OPTIMIZATION

Authors -  P. Hema Suganthi, K. Subha

Abstract : Currently Mobile Robot has been widely used in examination and navigation particularly where static and unknown surroundings are involved. Path planning is a crucial problem in mobile robotics. Path planning of robot refers to the determination of a path, a robot takes in order to carry out the necessary task with a given set of key parameters. To find best possible path from starting point to target point, that reduces time and distance, in a given environment, avoiding collision with obstacles is a current potential research area. This paper presents SCNN and CNN-MH algorithm to solve the problem of mobile robot path planning such that to reach the target station from source station without collision. The SCNN and CNN-MH algorithm will give the collision free optimal path. The result obtained with CNN-MH was compared with SCNN. The mobile robot environment is  treated as a grid based environment in which each grid can be represented by an ordered pair of row number and column number. The mobile robot is considered as a point in the environment, to reduce the computational complexities. The CNN-MH results show better convergence speed and reduction in computational time than that of SCNN through multiple MATLAB experiments.

Keywords : Mobile Robot, Path Planning, SCNN, CNN-MH, Collision free and optimal path

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ISSN (Online): 2348-3105 | ISSN (Print): 2347-6729
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