"In this thesis, a path planning method using a three-level hierarchical system model is proposed. In the top level of the hierarchy, the given location points to visit are taken as waypoints. The waypoint navigation process is formulated as a traveling salesman problem (TSP). The Lin-Kernighan algorithm is used to solve the TSP and transfer the solution to the lower level of the hierarchy. In the middle level, the path is represented by a grid-based costmap. A novel modified Grossberg neural network is designed to solve the point-to-point path planning. The bottom level of the hierarchy smoothens the path with kinematic constraints. The final results are simulated in a 3D virtual reality environment by using the MATLAB VR toolbox"--Abstract, page iii.
Balakrishnan, S. N.
Dagli, Cihan H., 1949-
Wunsch, Donald C.
Mechanical and Aerospace Engineering
M.S. in Mechanical Engineering
Missouri University of Science and Technology
vii, 44 pages
© 2011 Songjie Chen, All rights reserved.
Thesis - Restricted Access
Library of Congress Subject Headings
Traveling salesman problem
Neural networks (Computer science)
Intelligent control systems -- Mathematical models
Print OCLC #
Electronic OCLC #
Link to Catalog RecordElectronic access to the full-text of this document is restricted to Missouri S&T users. Otherwise, request this publication directly from Missouri S&T Library or contact your local library.http://laurel.lso.missouri.edu:80/record=b10158111~S5
Chen, Songjie, "A neural network based approach for path planning on costmap" (2011). Masters Theses. 4482.