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A Parallelized Matrix-Multiplication Implementation of Neural Network for Collision Free Robot Path Planning
| International Journal of Computer Applications |
| Foundation of Computer Science (FCS), NY, USA |
| Volume 69 - Number 28 |
| Year of Publication: 2013 |
| Authors: Abhishek Kumar, Ravi Bhushan Mishra |
10.5120/12249-8443
|
Abhishek Kumar, Ravi Bhushan Mishra . A Parallelized Matrix-Multiplication Implementation of Neural Network for Collision Free Robot Path Planning. International Journal of Computer Applications. 69, 28 ( May 2013), 24-29. DOI=10.5120/12249-8443
Abstract
This paper covers the problem of Collision Free Path Planning for an autonomous robot and proposes a solution to it through the Back Propagation Neural Network. The solution is transformed into a composition of matrix-multiplication operations, which is a classic example of problems that can be efficiently parallelized. This paper finally proposes a parallel implementation of this matrix-multiplication method which, in itself, encapsulates the neural network that implements the collision free path planning for an autonomous robot.
References
- DU Xin 1, CHEN Hua-hua 2, GU Wei-kang1/ Neural network and genetic algorithm based global path planning in a static environment, (1 Department of Information Science and Electronics Engineering, Zhejiang University, Hangzhou 310027, China)(2 School of Communication Engineering, Hangzhou Dianzi University, Hangzhou 310018, China)
- Youssef Bassil / Neural Network Model for Path-Planning Of Robotic Rover Systems, International Journal of Science and Technology (IJST), E-ISSN: 2224-3577, Vol. 2, No. 2, February, 2012
- Janglová, D. / Neural Networks in Mobile Robot Motion, pp. 15-22, Inernational Journal of Advanced Robotic Systems, Volume 1 Number 1 (2004), ISSN 1729-8806.
- Kyung Min Han, Collision Free Path Planning Algorithms for Robot Navigation Problems, A Thesis presented to the faculty of the Graduate School University of Missouri-Columbia, 2007
- R. Glasius, A. Komoda, S. Gielen / Neural Network Dynamics for Path-planning and Obstacle Avoidance, Department of Medical Physics and Biophysics, University of Nijmegen, Geert GrootepleinNoord 21, 6525 EZ Nijmegen, The Netherlands
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