Simulation Research and Improvement on Biologically Inspired Neural Network Path Planning

摘要

Biologically inspired neural network approach of mobile robot path planning is an original approach,which can be applied to generate real-time collision-free trajectory under dynamic uncertain environment.The simulation in this paper shows that the generated path may not accord with the restriction that the length of the path should be short to the greatest extent when the approach is applied in point to point path planning;the generated path may not accord with the restriction that the coverage process should be of regularity and the repetitious should be little to the greatest extent when the approach is applied in the complete coverage path planning.The analysis of the above unideal phenomena is made in the paper.And the improving methods of introducing goal navigation in point to point path planning and introducing rule navigation are individually proposed in the paper.The simulation results show that the new approaches are valid.