Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/43214
Title: Integrated planning and control of mobile robot with self-organizing neural network
Authors: Low, K.H. 
Leow, W.K. 
Ang Jr., M.H. 
Issue Date: 2002
Source: Low, K.H.,Leow, W.K.,Ang Jr., M.H. (2002). Integrated planning and control of mobile robot with self-organizing neural network. Proceedings - IEEE International Conference on Robotics and Automation 4 : 3870-3875. ScholarBank@NUS Repository.
Abstract: Despite the many significant advances made in robotics research, few works have focused on the tight integration of task planning and motion control. Most integration works involve the task planner providing discrete commands to the low-level controller, which performs kinematics and control computations to command the motor and joint actuators. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike existing integrated approaches, it produces a sequence of checkpoints instead of a complete path at the planning level. At the motion control level, a neural network is trained to perform motor control that moves the robot from one checkpoint to the next. This method allows for a tight integration between high-level planning and low-level control, which permits real-time performance and easy modification of motion path while the robot is enroute to the goal position.
Source Title: Proceedings - IEEE International Conference on Robotics and Automation
URI: http://scholarbank.nus.edu.sg/handle/10635/43214
ISSN: 10504729
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