WASET
	%0 Journal Article
	%A Doraid Dalalah
	%D 2010
	%J International Journal of Mathematical and Computational Sciences
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 38, 2010
	%T Mobile Robot Path Planning in a 2-Dimentional Mesh
	%U https://publications.waset.org/pdf/10444
	%V 38
	%X A topologically oriented neural network is very
efficient for real-time path planning for a mobile robot in changing
environments. When using a recurrent neural network for this
purpose and with the combination of the partial differential equation
of heat transfer and the distributed potential concept of the network,
the problem of obstacle avoidance of trajectory planning for a
moving robot can be efficiently solved. The related dimensional
network represents the state variables and the topology of the robot's
working space. In this paper two approaches to problem solution are
proposed. The first approach relies on the potential distribution of
attraction distributed around the moving target, acting as a unique
local extreme in the net, with the gradient of the state variables
directing the current flow toward the source of the potential heat. The
second approach considers two attractive and repulsive potential
sources to decrease the time of potential distribution. Computer
simulations have been carried out to interrogate the performance of
the proposed approaches.
	%P 220 - 227