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By formulating the local connectivity of cells as the local interaction of harmonic functions, an improved CNN model is established to propagate the target activity within the state space in the manner of physical heat conduction, which guarantees that the target and obstacles remain at the peak and the bottom of the activity landscape of the neural network. The proposed methodology cannot only generate real-time, smooth, optimal, and collision-free paths without any prior knowledge of the dynamic environment, but it can also easily respond to the real-time changes in dynamic environments. Further, the proposed methodology is parameter-independent and has an appropriate physical meaning.<\/p>","DOI":"10.4018\/ijimr.2011010102","type":"journal-article","created":{"date-parts":[[2011,10,20]],"date-time":"2011-10-20T10:39:36Z","timestamp":1319107176000},"page":"20-39","source":"Crossref","is-referenced-by-count":1,"title":["Optimal Robot Path Planning with Cellular Neural Network"],"prefix":"10.4018","volume":"1","author":[{"given":"Yongmin","family":"Zhong","sequence":"first","affiliation":[{"name":"Curtin University of Technology, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bijan","family":"Shirinzadeh","sequence":"additional","affiliation":[{"name":"Monash University, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaobu","family":"Yuan","sequence":"additional","affiliation":[{"name":"University of Windsor, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"2432","reference":[{"key":"ijimr.2011010102-0","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000604"},{"issue":"1","key":"ijimr.2011010102-1","first-page":"9","article-title":"Robot motion planning using neural networks: a modified theory.","volume":"2","author":"S.Bhattacharya","year":"2005","journal-title":"International Journal of Lateral Computing"},{"key":"ijimr.2011010102-2","doi-asserted-by":"publisher","DOI":"10.1109\/31.7600"},{"key":"ijimr.2011010102-3","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620100704"},{"key":"ijimr.2011010102-4","doi-asserted-by":"crossref","unstructured":"Connolly, C. 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