Neural network approach to collision free path-planning for robotic manipulators

Abstract

The paper deals with collision free path-planning for industrial robotic manipulators A new efficient approach is proposed that is based on the topologically ordered neural network model. This model describes harmonic potential field of the robot configuration space, sampled by the non-regular grid. The developed path-planning algorithm takes into account highly-irregular shape of the obstacles of welding and assembling robotic cells, and provides reduced number of collision checking. The stability of the topologically ordered neural network is investigated. The algorithm has been successfully applied to the off-line programming of a robotic manufacturing cell for the automotive industry.

Recurrent Neural Network-based Path Planning for an Excavator Arm under Varying Environment

“…Neural networks are known as a good way of dealing with path planning problems. In [12][13][14], neural networks are used to generate collision-free trajectories for robots. In [12], the robot works in a dynamic environment with U-shaped and varying obstacles.…”

“…The same neural network topology is used in [13] for a multirobot system with moving obstacles. The trajectory planning for the manipulator robot based on a neural network model of the harmonic function is introduced in [14]. Trajectories are built based on neural networks to optimize the jerk in [15] or the working time in [16].…”

Intelligent vehicle lane change trajectory control algorithm based on weight coefficient adaptive adjustment

“…Neural network algorithm, genetic algorithm, ant colony algorithm, etc., need a lot of iterative operations, and the current vehicle hardware conditions are difficult to meet the requirements. 21–24 Path planning based on geometric model includes cosine trajectory, circular trajectory, isokinetic trajectory, trapezoidal acceleration trajectory, polynomial trajectory. 15,25 These trajectory models are intuitive, accurate, and have a small amount of calculation.…”