Guided Autowave Pulse Coupled Neural Network (GAPCNN) Based Real Time Path Planning and An Obstacle Avoidance Scheme For Mobile Robots

Problem Statement Background Research MPCNN Model GAPCNN Model MPCNN vs GAPCNN Performance Comparison Results
Guided Autowave Pulse Coupled Neural

Network (GAPCNN) based real time path
planning and an obstacle avoidance scheme
for mobile robots
Probabilistic Robotics and Intelligent Systems in Motion
(PRISM) Lab
Mechatronics Engineering
National University of Sciences and Technology
17 May, 2014
Usman Ahmed Syed, Usman Malik, Faraz Kunwar, Mazhar Iqbal GAPCNN based real time path planning and obstacle avoidance
Outline
1
Problem Statement
2
Background Research
3
MPCNN Model
4
GAPCNN Model
5
MPCNN vs GAPCNN
6
Performance Comparison
7
Results
Section 1
Problem Statement
Problem Statement
1
Path planning corresponds to two problems:
- Determine a feasible path if it exists
- Optimality of the path (time, distance, . . . )
2
This paper presents a varient of MPCNN to compute the
shortest path in a 2D space for mobile robots.
3
This work presents:
- Shortcomings of the MPCNN model proposed recently for
mobile robots.
- Directional constraints on the autowave of MPCNN for
informed search of the conguration space.
- Dynamic thresholding of the underlaying neural network to
increase time efciency.
- Simulation and experimental results of GAPCNN path planner.
Section 2
Background Research
Background Research
1
Problem of path planning is long addresses by robotics
community:
- Probabilistic Methods
Fast but lack optimality of paths
- Potential Fields
Degrades in the presence of local minima
- Visibility Graphs and Voronoi Diagrams
Computationally inefcient
- Machine Learning
In most of the cases path ends up to be Non-optimal
Section 3
MPCNN Model
Standard Neuron Model
Single neuron model Feedforward network
1
In general an input-output pair is given through which
weights are learned by repeated measurement of neuron
prediction error.
2
Similarly such neurons can be stacked together to get
various network architectures such as Feedforward and
Recurrent Neural nets.
MPCNN: Connectivity Model
w=1 w=1
w=1 w=1
w=1 w=1
w
=
1
w
=
1
w
=
1
w
=
1
w
=
1
w
=
1
w
=
2

w
=
2

w
=
2

w
=
2

w=1 w=1
w=1
w=1 w=1
w
=
1
w
=
1
w
=
2

w
=
2

w
=
2

w
=
2

without obstacle neuron with obstacle neuron
1
Assume that the 2D conguration is represented by a 2D
lattice of neurons.
2
Each neuron is connected to its neighbours through
weights given by:
w
ij
=
1 if j N
s
| a-type neurons
2 if j N
d
| b-type neurons
MPCNN: Neuron Output
1
Similar to a simple neuron, MPCNN neuron also res when
its internal energy exceeds a threshold level.
2
A neuron i res only if some neuron j in its neighborhood
N
i
res and this sets neuron i as child neuron to re at
some later time. The neuron j is said to be the parent N
P
i
and its ring time is denoted as t
N
P
i
.
3
Each neuron res only once in its life time.
Y
i
(t ) =
0 for T t <T
1 for t = T
0 for T <t T +
where could be any amount of time and T = t
i
re
is the time at
which neuron i res.
MPCNN: Internal Energy Model
Activity of each neuron is controlled by its internal energy given
by
dU
i
(t )
dt
= F
i
+CL
i
for t >t
N
P
i
U
i
(t ) = 0 for t t
N
P
i
Where C is a constant F
i
(t ) and L
i
(t ) are the linking and
feeding elds given by:
L
i
(t ) = f (Y
N
1, . . . , Y
N
k , t ) =
0 if t <t
N
P
i
1 otherwise
Linking input is the actual input from the environment map
whereas the feeding eld is due to the connections with the
neighboring neurons.
MPCNN: Internal Energy Model
F
i
(t ) =g(w
ir
1, . . . , w
ir
k , t )U
i
(t )
Here g is a function of time t and connection weights among
the k neighbors and is given by:
g(w
ir
1, . . . , w
ir
k , t ) =
0 if t <t
N
P
i
(w
ij
) if t >t
N
P
i
where (w
ij
) is given by:
(w
ij
) =
B
w
ij
=
B if j N
s
B
2
if j N
d
Here B is a positive constant.
MPCNN: Threshold/Activation function
When a neuron is activated by a neighboring parent neuron its
internal energy builds upon. Its energy level is continuously
compared with the threshold level. The threshold for i
th
neuron
can be written as:
i
(t ) =
init
for t <t
N
P
i
ij
for t
N
P
i
t <t
i
re
f
for t >t
i
re
where
init
and
f
are constants.
f
is set to a very large value
to ensure that the neuron may not re again and
ij
is given as:
ij
=
s
if j N
s
d
if j N
d
MPCNN: Single Neuron Model
Output of a MPCNN neuron is given by the following relation:
Y
i
(t ) = Step(U
i
(t )
i
(t )) =
1 if U
i
(t )
i
0 otherwise
MPCNN Working
1
Consider that the in 2D conguration space each
conguration is represented by a neuron.
2
Initially the goal neuron is intentionaly activated which
enables its neighbors to re at a later time thus becoming
their parent.
3
The search proceeds in the form of a pulse through which
neighboring neurons are coupled.
4
Firing pattern propagates outwards in the form of a wave
until the robot neuron is reached.
5
Parent-child relationship is back traced to nd the path.
Section 4
GAPCNN Model
Issues with MPCNN
Analysis of the MPCNN algorithm reveals that it suffers in two
important aspects.
1
To nd the shortest path it undegoes an uninformed search
by propagating a wave in all directions, not using any of the
available information to perform an intelligent search.
Solution: Perform an informed search.
2
MPCNN assigns the same threshold level to all the
neurons in the search space leading to time inefciency.
Solution: Dynamic thresholding to reduce computational
time.
Dynamic Thresholding
1
Dynamic thresholding is used which accelerates ring
neurons that are tentatively along the path while retarding
neuron ring in the oppisite direction.
2
The threshold for i
th
neuron can be written as:
i
(t , ) =
init
for t <t
N
P
i
ij
i
for t
N
P
i
t <t
i
re
f
for t >t
i
re
i
is the normalized distance of the i
th
neuron from the
target neuron given by:
i
= A
1
D
target
D
max
Here D
target
is the Euclidean distance from the target
neuron, D
max
and A are scaling constants.
Informed Search Behavior
Directional constraints on the au-
towave are applied by employing an
angle modication in the original dif-
ferential equation of the internal activ-
ity of the neuron.The directional con-
straint
i
is given by:
i
= K(
i
)
g(w
iN
1, . . . , w
iN
k , , t ) =
0 if t <t
N
P
i
(w
ij
) +
i
if t >t
N
P
i
F
i
(t ) =g(w
iN
1, . . . , w
iN
k , , t )U
i
(t )
GAPCNN Model
1
N
Y C
i

f
i
L

k
N
Y +
i

i
iN
w
dt
dU
i

i

i
Y
g

i
F

Output

r
iN
w ) (t U
i

Recepve Field Modulaon Field Pulse Generator
1
0
f

ij

Section 5
MPCNN vs GAPCNN
Wave propagation control
The MPCNN wave propagates
equally in all directions regard-
less of the location of the robot
while the GAPCNN wavefront
only propagates in a small re-
gion around the target reducing
the number of neurons that have
red.
(a) MPCNN (b) GAPCNN
Robot
Target
Robot
Target
Robot
Target Target
Robot
(a) K =0.2 (b) K =0.75 (c) K =1 (d) K =5
Dynamic threshold controll
In GAPCNN each neuron of the grid possesses a unique
threshold in accordance to its location whereas in MPCNN
each neuron was associated with the same threshold level.
Section 6
Performance Comparison
Comparison with MPCNN
Under identical conditions GAPCNN is compared with MPCNN.
The mean execution time of MPCNN comes out to be 11.82 ms
whereas that of GAPCNN is 3.57 ms. The mean time
improvement is 8.25 ms which corresponds to a 70 percent
time improvement.
Local Minima Problem
GAPCNN successfully evades with lower computational time
and reduced search space than MPCNN.
Comparison with A*
1
A* works in as similar manner as that of GAPCNN i.e. rst
exploration is carried out based upon a cost function and
then shortest path is extracted through parent-child
relations.
2
In all the cases cumulative cost of the resulting paths was
equal but GAPCNN took much lesser time than A*.
Section 7
Results
Simulation Results
B
A
R
B
A R
B
A
R
B
A
R
B
A
R
B
A
T
R
T
B
A
R
R
T
A
B
T
R
B
A
T
R
B
A
Simulation Results
B
A
R
B
A
R
B
A
R
B
A
R
B
A
R
R
B
A
T
R
A
B
T
R
T
B
A
B
R
T
A A
B
R
T
Pursuer
Target
Target
Pursuer
Target
Pursuer
Target
Pursuer
Target
Pursuer
Experimental Results: Static Environment
T
R
T
R
T
R
T
R
T
R
T
R
(a) (b) (c) (d) (e) (f)
Target
Start
Experimental Results: Dynamic Environment
T
D
R
T
D
R
T
D
R
T
D
R
T
D
R
T
D
R
Start
Target
Dynamic
Obstacle
Target
Start
Dynamic
Obstacle
Start
Target
Dynamic
Obstacle
Target
Start
Dynamic
Obstacle
Experimental Results: Dynamic Environment
T
D
R
T
D
R
T
D
R
T
D
R
T
D
R
T
D
R
Start
Target
Dynamic
Obstacle
Target
Start
Dynamic
Obstacle

Guided Autowave Pulse Coupled Neural Network (GAPCNN) Based Real Time Path Planning and An Obstacle Avoidance Scheme For Mobile Robots

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Guided Autowave Pulse Coupled Neural Network (GAPCNN) Based Real Time Path Planning and An Obstacle Avoidance Scheme For Mobile Robots

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Problem Statement Background Research MPCNN Model GAPCNN Model MPCNN vs GAPCNN Performance Comparison Results

Guided Autowave Pulse Coupled Neural

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