%0 Journal Article
	%A Amir Reza Saffari Azar Alamdari
	%D 2007
	%J International Journal of Computer and Information Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 6, 2007
	%T Unknown Environment Representation for Mobile Robot Using Spiking Neural Networks
	%U https://publications.waset.org/pdf/9466
	%V 6
	%X In this paper, a model of self-organizing spiking neural networks is introduced and applied to mobile robot environment representation and path planning problem. A network of spike-response-model neurons with a recurrent architecture is used to create robot-s internal representation from surrounding environment. The overall activity of network simulates a self-organizing system with unsupervised learning. A modified A* algorithm is used to find the best path using this internal representation between starting and goal points. This method can be used with good performance for both known and unknown environments.

	%P 1748 - 1751