Multiple Moving Obstacles Avoidance for Wheeled Type Robots Using Neural Network

Mobile robot path planning in a movement environment is an important problem. We studied acquisition of a path to a destination and multiple moving obstacles avoidance of a wheeled type robot. The paper proposes a method of path planning based on neural network and genetic algorithm. The avoidance action of a wheeled type robot is determined from the obstacle configuration, the robot's self-state and destination information using a neural network. The design parameter of neural network is adjusted by using genetic algorithm.