关键词: 神经网络, 机器人, 路径搜索, 动态环境

Abstract: An improved model of neural network named “tactile sensation perception” is proposed for mobile robot to find a path in unknown environment with static and dynamic obstacles.In the proposed model，robots only need distance and orient of the target and information of neighbors，which is collected by inner sensors without the information of map.BP neural networks is the decision center of robot.Robot can provide a proper trail with free-collision in the process of exploring in both static and dynamic environments after training.With simulations，the experimental results demonstrate the efficiency of the method.

Key words: neural networks, robot, path-finding, dynamic environment