Real-Time Robot Path Planning Based on a Modified Pulse-Coupled Neural Network Model

  title={Real-Time Robot Path Planning Based on a Modified Pulse-Coupled Neural Network Model},
  author={Hong Qu and Simon X. Yang and Allan R. Willms and Zhang Yi},
  journal={IEEE Transactions on Neural Networks},
This paper presents a modified pulse-coupled neural network (MPCNN) model for real-time collision-free path planning of mobile robots in nonstationary environments. The proposed neural network for robots is topologically organized with only local lateral connections among neurons. It works in dynamic environments and requires no prior knowledge of target or barrier movements. The target neuron fires first, and then the firing event spreads out, through the lateral connections among the neurons… CONTINUE READING
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