Motion planning of a mechanical snake using neural networks

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buir.advisorSezer, M. Erol
dc.contributor.authorFidan, Barış
dc.date.accessioned2016-01-08T20:15:47Z
dc.date.available2016-01-08T20:15:47Z
dc.date.issued1998
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.descriptionAnkara : The Department of Electrical and Electronics Engineering and the Institute of Engineering and Sciences of Bilkent Univ., 1998.en_US
dc.descriptionThesis (Master's) -- Bilkent University, 1998.en_US
dc.descriptionIncludes bibliographical references leaves 88-90en_US
dc.description.abstractIn this thesis, an optimal strategy is developed to get a mechanical snake (a robot composed of a sequence of articulated links), which is located arbitrarily in an enclosed region, out of the region through a specified exit without violating certain constraints. This task is done in two stages: Finding an optimal path that can be tracked, and tracking the optimal path found. Each stage is implemented by a neural network. Neural network of the second stage is constructed by direct evaluation of the weights after designing an efficient structure. Two independent neural networks are designed to implement the first stage, one trained to implement an algorithm we have derived to generate minimal paths and the other trained using multi-stage neural network approach. For the second design, the intuitive multi-stage neural network back propagation approach in the literature is formalized.en_US
dc.description.degreeM.S.en_US
dc.description.statementofresponsibilityFidan, Barışen_US
dc.format.extentxii, 90 leaves+ 1 computer disk (3 1/2 in)en_US
dc.identifier.urihttp://hdl.handle.net/11693/18050
dc.language.isoEnglishen_US
dc.publisherBilkent Universityen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectMechanical snakeen_US
dc.subjectArticulated robot armen_US
dc.subjectMotion planningen_US
dc.subjectPath planningen_US
dc.subjectMinimal pathen_US
dc.subjectBack propagationen_US
dc.subjectNeural networken_US
dc.subjectMulti-stage neural networken_US
dc.subject.lccTJ211.35 .F53 1998en_US
dc.subject.lcshNeural networks (Computer science).en_US
dc.subject.lcshRobots--Control systems.en_US
dc.subject.lcshMachine learning.en_US
dc.titleMotion planning of a mechanical snake using neural networksen_US
dc.typeThesisen_US

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