Design of path planning based Cellular Neural Network

摘要

In this paper, a Novel Cellular Neural Network (CNN) entitled the shortest path CNN (SP-CNN) is proposed. It has a good performance in path planning for mobile robots because of its network structure and neural dynamics. The proposed method not only can generate the best solution in static environments in real time but also generate the optional solution in dynamic environments or in unknown environments according to its currently acquired navigation map. Extensive simulations about the above mentioned aspects demonstrate the effectiveness of the proposed approach.