Abstract of FKI-210-95

Document-Name:  fki-210-95.ps.gz
Title:          Kinematic Path Planning for Manipulators in Dynamic
                Environments Using Adaptive Neural Models and Neural Subgoal 
Authors:        Martin Eldracher, Peter Baumann
Revision-Date:  1995/11/02 
Category:       Technical Report (Forschungsberichte Künstliche Intelligenz)
Abstract:       Trajectory generation for manipulators can be performed
                most efficiently, if a model of the environment is
		available. Classical approaches usually build such a
		model in a preprocessing step. But the construction of
		the model is computationally very expensive. A further
		disadvantage of classical approaches is that a complete
		re-computation of the whole model is necessary after
		each small change in the environment.  Therefore an
		adaptive model that can be changed online is favorable,
		even if small changes in the obstacles' places may
		cause fundamental changes in configuration-space.  With
		their inherent adaptability neural networks seem to be
		an optimal tool to construct such adaptive models. We
		introduce an approach that shows that adaptive modeling
		with neural networks can be performed most efficient.
		Furthermore we use adaptive neural network world-models
		to plan subgoals in configuration-space allowing
		hierarchical trajectory construction for manipulators.
		Experimental results in a basic example environment are
Keywords:       kinematic path planning, trajectory generation, manipulators,
                dynamic environments, dynamic world models, neural networks,
                dynamic CMAC
Size:           24 pages
Language:       English
ISSN:           0941-6358
Copyright:      The ``Forschungsberichte Künstliche Intelligenz''
                series includes primarily preliminary publications,
                specialized partial results, and supplementary
                material. In the interest of a subsequent final
                publication these reports should not be copied. All
                rights and the responsability for the contents of the
                report are with the authors, which would appreciate
                critical comments.

Gerhard Weiss