Proceedngs of E TNCONOZ

A NEW PATH-PLANNING ALGORITHM FOR MOBnE ROBOT

BASED ON NEURAL NETWORK
ZHU Yonglie

WANG Shuguo

CHANG I m g

(Robot Insmute, Harbm InStlNte of Technology, Harbm Chma 150001)

zhuyongliel@yahoocorn cu

Abstract : In this paper, a new path-planning algorithm

determine the motion tendency of the point set along the

based on neural network is proposed for mobile robots.

path. Finally, the performance and efficiency of the

Neural network is used in the algorithm to model the

algorithm are estimated through computer simulation. As

environment and calculate the collision energy function

can be seen from the results, the algorithm is very efficient

(CEF) which is the dominating term in the cost function.

To implement the pathplanning procedure, rather than

in situations where real-time o p t i o n is required.

2. EnvironmentModeling by Neural Network

calculating the minimum value of the cost function directly,

Suppose the workspace for robot is shown in Fig. 1

a discrete method is used to approximate the minus

i the shadowed parts represent the barrieryl . In the

gradient direction of the cost function in order to

discussion of the algorithms, the mobile robot is regarded

determine the motion tendency of the point set along the

as a particle. In practice, the harriers should be expanded

path. Finally, the performance and efficiency of the

accordingto the radium ofthe robot.

algorithm are estimated through computer simulation. As

can be seen from the results, the algorithm is very efficient

in siblatiom whae real-time operation is required

Key words: mobile robot

network

patlkplanning

neural

1. Introduction
In this paper, a new path-planning algorithm based on

'

neural network is proposed for mobile robots aim@ at the

global pathplaMing problem. Different methods for

Accordingto [I], the environmental model can be set

solving the problem of path-planning by using neural

up as the followings: First, the restriction conditions of the

network have been discussed in many literatures

barriers can he represented by inequations ( 1) and ( 2) .

Where, x and y are any point in the workspace. Points

Fig.1 The workspace for robot

1'1[21, In
literature [I], the neural network is used to describe the

restrictions of the environment and calculate the collision

'

meeting the inquatiom fall in the haniers.

energy function (CEF). The sum of the CEF of the iterative

as the cost function. Then the motion equation of the

points set can be determined by resolve the minimum

o;:;:;[

(1)

-y+4>0

value of the cost function. After iterations, the point set

x-6>0

x-2>0

point set aloni the path and the distance function is defined

-x+9>0
y-5>0
-y+7>o

(2)

will tend to he the optimum path. While in this paper, the

The neural network used to calculate the collision

environmental model of [I]

is used for reference, but rather

penalty function is shown in Fig.2. The two nodes of the

than calculating the minimum value of the cost function

input layer represent the coordinates of the points along the

directly, a discrete method is used to approximate the

path. The eight nodes of the medium layer represent the

minus gradient direction of the cost function in order to

eight restrict conditions of the barriers. The outputs of the

0-7803-7490-8/02/$17.0002002 IEEE.
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nodes of the top layer represent the collision penalty

function corresponding to each Mer.

slope on the edge of the barriers. The penalty function is

steep with smaller T and similar to the step function on the
edge of the barriers. The parameter T influents the results
and efficiency of the path-planning. This can be seen from
the simulation results in section 3. For the workspace of
this paper, the penalty functions with differentT are shown
in Fig.3 and Fig.4. As can he seen from the figures, the

collision penalty function becomes very steep with T equal

Fig.2 The neural network used to calculate the collision
penalty function

to 0.1 and has little fluctuation inside or outside the barria.

Now the calculation of the collision energy function

of the fust barrier

c: is illustrated as an example. The

calculation is done accnrding to equation (3136).

c: =f(T,)

(3)
Fig.3 Collision penalty function ( T=0.3 )

,,M

Where,

T,

c: is the output of the nodes of the top layer,

e,

is the input of the nodes of the top layer,

is the

threshold of the nodes. of the top layer (equal to -(N-0.5),

where N is the number of the inequations),
output of the mth node of medium layer,

Fig.4 Collision penalty fnnction( T=0.1 )

3. Algorithm for path-planning

In the new algorithm for path-planning, rather than

OM,is the

I,,

calculating the minimum value of the cost function, a

discrete method is used to approximate the minus

is the input

of the mth node of the medium layer,

gradient direction of the cost function in. order to

is'the

determine the motion tendency of the point set along the

threshold of the mt h node (equal to the constant term in

path. The detailed procedure can be stated as follow:

inequations), Wvv,and W,,

Input the coordinates of the start point and the target

point and'connect the two points to get a segment.

is the coeficient of the

restriction condition of the mth inequation, the weighted

,:

86.AI - , - :

Divide the segment equally by a serial of points and

coefficients of the connection of the medium and top layer

is

1.

f(~)=1 e 3

calculate the coordinates of these points. These points

is the excited

+
parameter T influents the shape of the penalty

function,

will be made as the original point set for iteration.

function.

Choose 6 adjacent area around each point

(&.E) in

point set as Fig5 and define eight directions as ( E. NE.

The penalty function is flat with larger T and has smooth

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N NW W SW S SE , Thecollisionenergy Function
E, and the distance energy Function F.i of the eight
vertexes to the target point are calculated with equation

gradient. Take the distance energy into account, we choose

the cost function E [XI,l', at point (X,, YJ as:

(7) and (8). The directional derivatives of the collision

energy function at point ( X , F j with regard to the eight

direction can he calculated fiom equation (9)

Where.

and

U1

are the weighted coefficients of

directional derivative and distance energy Function. From

the principle of the algorithm, we h o w that the term

E,(X,,YJ makes less contribution to the decision when 6

is very small. Generally, we choose

sw

much smaller than

o ) ~

14 C.

SE

Based on the analysis above, we first calculate the

cost function E, [XI,Yi ) at any point in the iteration point

Rg.5 The 6 adjacent area at point ( XIYi 1

set. It is the function of the eight directions. The direction

(7)

with the smallest cost Function is the motion tendency at

this point. The corresponding vertex is the original point

Where,

c;' is the collision penalty

function of point

tX,,Y,) with regard to the kth barrier. K is the number of.

the banias.

E , ( X , ' , T ' )= J ( X , ' - X , ) ' + ( r : '

-q)2

(8)

for the next iteration. The same operation is done at each

point in the point set during every iteration. The operation
gces on and a collision-fie path will be generated

The iteration termination condition for the algorithm

is that the cost function of the consecutive iterations meet:

Where, (X,,Y,) is coordinates of the target point and

( X z ' , r ' )isthecoordinates

oftheeightvatexes.

q)

Where, En(Xi, and

En+,
( X i ,q )

function of nth and (n+l)th iteration at point

are the cost

(X.,&).
A is

a small value which is chosen according to the practical

situation.
For the pathplanning algorithm, because the optimal
decision is made at every local point, so the path generate

1with regardto directions ( E ,N,W ,S)

is not always the optimum in the global sense . But in

situations where the distance optimum is not so important,

(xi',
y') is the coordinate of the eight vertexes.

the algorithm has advantages of high speed and hizh

Equation (9) can be used to approximate the eight

efficiency. This can be seen from the simulation results in

IYliere,

directioiml derivatives of collision energy function at point

(X.8)when

6 is small enough. The direction with

section 3.
4. Results of simulation

Based on the principle of algorithm, the simulation

smallest directional derivative is more likely the direction

of minus gradient at this point. This is the so called
discrete method used to approximate the direction of minus

results for different parameter is shown in fig.6-9. Where

'n' represent the result of the final iteration and '0

represent the transition track for each iteration. Fig.6 and

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fig7 are the simulation results with T=0.1 and different 1

5 . Conclusions

0.land 0.05 . Fig.6 and fig.7 are the result after 5 and 9

In this paper, a newpath-planning algorithm based on

times iteration respectively. As can he seen, when keep T

neural network is proposed for mobile robots. Neural

unchanged, decrease of

network is used in the algorithm to model the environment

can reduce the computation

burden and improve the efficiency of path-planning. But

and calculate the collision energy function. To implement

smaller 6 'leads to more optimal planning path. This is

easy to understand, because when 6 is getting smaller

the path-planning for mobile robot, rather, than calculating

the minimum value of the cost function directly, a discrete

the effect of approximating minus gradient direction

method is used to approximate the minus gradient

becomes reliable and the fluctuation of the path becomes

direction of the CEF in order to determine the motion

smaller by using the discrete method. Large

may leads

tendency of the point set of the path. The influences of T

to the iteration divergent ,and no optimal path can he found.

Fig.8-9 is- the simulation results when T=0.4 and with

and on the efficiency and effect of the algorithm are

evaluated through computer simulation. As can be seen

different ,I(0.1
. and 0.05). Compared with fig.6-7, we can

from the results, the algorithm is very efficient in

see, for larger T, the point set along the path can depart

situations where real-time Operation is required.

quickly from the barrier. The fluctuation of the planning

References
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Teckrrique.

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Eflcient Hierarchical Path Planning, IEEE Trans. On

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o In

Fig.6 Simulation result 1

(T=0.1.

Fig.8 Simulation result 3

IF5)

oh

Fig.7 Simulation result 2

(T=O.I, =0.05, n=9)

=O.l. n=5)

(Tz0.4. 4 . 1 ,

Fig.9 Simulation result 4

( T 4 . 4 , =0.05, n=9)

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