Multi-stage neural networks with application to motion planning of a mechanical snake

Date

2003-06

Editor(s)

Advisor

Supervisor

Co-Advisor

Co-Supervisor

Instructor

BUIR Usage Stats
4
views
14
downloads

Citation Stats

Series

Abstract

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.

Source Title

Proceedings of the American Control Conference, 2003

Publisher

IEEE

Course

Other identifiers

Book Title

Degree Discipline

Degree Level

Degree Name

Citation

Published Version (Please cite this version)

Language

English