Incorporating learning in motion planning techniques

Robot motion planning in a cluttered environment requires knowledge about robot shape and size. These robot characteristics in uence system performance eventhough most motion planning methods do not consider them. This paper presents an ongoing work that studies general motion planning techniques in combination with knowledge related to robot shape and size. The system acquires knowledge and learns strategies to avoid local collitions and to make global decisions. A neural network is presented that learns local behavior and a learning technique based on a reinforcement method is presented to overcome problems of local minimum.