Path Planning for Robots Based on Threat Assessment and Biologically Inspired Neural Network

Real-time path planning for mobile robots is a very difficult and challenging problem. A new method is proposed for path planning which connected intuitionistic fuzzy set (IFS)with biologically inspired neural network(BINN) in this paper. Firstly, the virtual target helps to improve the guidance of actual target to robot. Then, according to multiple attribute decision making, the assessment model based on IFS is established to measure the threats of obstacles to robot,. Further, a novel scanning mode is presented to reduce the calculations and accelerate neuron activation. Finally, The experimental results show that the proposed BINN based on assessment method can deal with the real-time path planning problem efficiently.