Méthodologie basée sur les réseaux neuronaux pour la planification en temps réel de la trajectoire d'un robot
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La planification en temps r�el de mouvements sans collision dans un environnement non stationnaire est un enjeu important dans de nombreux syst�mes autonomes, notamment la robotique et les syst�mes intelligents. Elle conf�re aux syst�mes robotiques intelligents la capacit� de planifier des mouvements et de naviguer de mani�re autonome. Cette capacit� devient particuli�rement cruciale pour les robots qui op�rent dans des environnements dynamiques, o� des changements impr�visibles et soudains peuvent survenir. Ce projet aborde les questions fondamentales li�es � la planification de trajectoires robotiques dans un environnement dynamique soumis � des incertitudes. Cet ouvrage pr�sente une m�thodologie bas�e sur une combinaison unique de techniques de r�seaux neuronaux, de dynamique et d'automates cellulaires. Les r�seaux neuronaux cellulaires (CNN) tirent le meilleur parti des deux m�thodologies de planification de trajectoire, en ce sens qu'ils permettent d'effectuer avec succ�s une navigation autonome en temps r�el dans un environnement dynamique. En exploitant les propri�t�s �l�gantes des fonctions harmoniques et l'interconnectivit� locale non lin�aire des neurones au sein d'un CNN, il est possible d'�liminer compl�tement les minima locaux, ce qui permet d'obtenir une m�thodologie de planification de trajectoire stable et convergente.
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