计算机科学 ›› 2019, Vol. 46 ›› Issue (11A): 28-32.

• 智能计算 • 上一篇    下一篇

基于定向约束的脉冲耦合神经网络路径规划

孙艺彬, 杨慧珍   

  1. (西北工业大学航海学院 西安710072)
  • 出版日期:2019-11-10 发布日期:2019-11-20
  • 通讯作者: 杨慧珍(1974-),女,博士,副教授,主要研究方向为水下机器人控制,E-mail:rainsun_ly@nwpu.edu。
  • 作者简介:孙艺彬(1995-),男,硕士生,主要研究方向为路径规划、导航控制,E-mail:jiuao9915@163.com。

Path Planning Based on Pulse Coupled Neural Networks with Directed Constraint

SUN Yi-bin, YANG Hui-zhen   

  1. (School of Marine Science and Technology,Northwestern Polytechnical University,Xi’an 710072,China)
  • Online:2019-11-10 Published:2019-11-20

摘要: 文中提出了一种基于定向约束的脉冲耦合神经网络的路径规划方法。该方法基于脉冲耦合神经网络,不需要进行经典神经网络的前期训练,将拓扑化地图与脉冲耦合神经网络相结合,设计距离和角度约束,从而减少了脉冲耦合神经网络中激活的神经元数量,加快了路径规划速度。仿真结果表明该路径规划算法的运算时间比A*算法更短。

关键词: A*算法, 定向约束, 路径规划, 脉冲耦合神经网络

Abstract: This paper proposed a path planning method based on pulse coupled neural networks (PCNN) with directed constraint.This application does not require pre-training and is different with classical neural networks.The method combines topological maps with PCNN,and designs distance and constraints angle.In this way,the number of activated neurons is reduced,and the effectiveness of path planning is improved.Compared with the A* algorithm,the simulation results show that this path planning algorithm is faster.

Key words: A* algorithm, Directed constraint, Path planning, Pulse coupled neural network

中图分类号: 

  • TP391.9
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