Multi-Stage Neural Networks with Application to Motion Planning of a Mechanical Snake
Proceedings of the American Control Conference
1278 - 1283
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An efficient approach to nonlinear control problems in which the plant is to be driven to a desired state using a neural network controller in a number of steps is by representing the whole process as a multi - stage neural network. In this paper, an explicit formulation of the back propagation algorithm is developed for such networks. Later, this approach is used to build up a path planner for a mechanical snake (a robot composed of a sequence of articulated links). This path planner, together with a tracking algorithm, is shown to get the mechanical snake out of a collision-free closed region.
Nonlinear control systems