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Dynamical path-planning algorithm of a mobile robot using chaotic neuron model

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5 Author(s)
Changkyu Choi ; Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea ; Sun-Gi Hong ; Jin-Ho Shin ; Il-Kwon Jeong
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This paper describes a dynamical local path-planning algorithm of an autonomous mobile robot available for stationary obstacle avoidance using nonlinear friction. Dynamical path-planning algorithm is considered to accommodate the mobile robot to the dynamic situation of the path-planning nature. Together with the previous virtual force field method, the path of the mobile robot is a solution of a path-planning equation. Local minima problems in stationary environments are solved by introducing nonlinear friction into the chaotic neuron. Because of the nonlinear friction, the proposed path-planner reveals chaotic dynamics in some parameter regions. This new path-planner is feasible to guide, in real-time, the mobile robot to avoid stationary obstacles and to reach the goal. Computer simulations are presented to show the effectiveness of the proposed algorithm

Published in:

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

5-9 Aug 1995