Path Planning of Arbitrary Shaped Mobile Robots With Safety Consideration
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
This paper presents a neural network-based approach for the path planning of arbitrary shaped mobile robots in complex environments, with the consideration of safety. A 2D workspace is discretized to a topologically organized map using a biological neural network, in which the dynamic neural activity landscape represents the environmental information. A set of kernel matrices are established to describe the shape and orientation features of the robot. Taking the safety factor into consideration, the translation and rotation performances of the robot on each neuron node of the workspace are determined using a convolutional neural network (CNN). Then, from the initial state of the robot to the target state, a node rooted tree is constructed by searching the adjacent neurons, and the moving path of the robot is generated by backward searching the node rooted tree. By changing the bias coefficient in the convolutional calculation, the clearance between the planned path and the obstacles can be conveniently adjusted. The effectiveness of the proposed method is demonstrated through several simulations conducted in both static and dynamic environments. The results show that the method can effectively solve the “path blocked” issue caused by small densely scattered obstacles, and also solve the “too close” and “too far” path planning problems.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it