A quadtree based neural network approach to real-time path planning

Yangming Li, Max Q.H. Meng, Shuai Li, Wanming Chen, Zhuhong You, Qinglei Guo, Huawei Liang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

7 Citations (Scopus)

Abstract

The paper proposed combining traditional quadtrees and framed-quadtrees with the shunting equation based neural network model to improve the efficiency of path planning. The introduction of quadtrees is used for improving the efficiency of the trajectory generation and enlarging the representation capability of maps, especially in sparse environments. And the introduction of framed-quadtree is used for the generation of Euclidean shortest paths. The introduction of quadtrees and framed-quadtrees does not change the structure of the neural network model based on the shunting model; so the stability and the convergence of the neural network were reserved. And the feature that a map can be represented by quadtrees with multi-resolution was betaken to simplify the selection of parameters in the neural network model. Theoretical analyses and Simulation studies of the proposed method were done to demonstrate following conclusions: the Euclidean shortest paths can be generated without collision and without much computational complexity; the improved neural network method does not suffer from undesired local minima; the proposed method can generate shorter collision free trajectory and has bigger representation capabilities of maps.
Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
PublisherIEEE Computer Society
Pages1350-1354
Number of pages5
ISBN (Print)9781424417582
DOIs
Publication statusPublished - 1 Jan 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China
Duration: 15 Dec 200718 Dec 2007

Conference

Conference2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Country/TerritoryChina
CityYalong Bay, Sanya
Period15/12/0718/12/07

Keywords

  • Framed-quadtrees
  • Neural networks
  • Path planning
  • Quadtrees
  • Shortest path

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Biomaterials

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