| 摘要 |
PURPOSE: An analog cellular nonlinear circuit network-based optimal path planning method by setting a subgoal is provided to perform an optimal path planning at a high speed in an application of a packet path or a working path of a robot of an ATM communication by accurately finding an optimal path regardless of a distance between a start point and a target point by setting a subgoal. CONSTITUTION: A maximum input(Imax) is applied to a cell corresponding to a goal and '0' is applied to other cells in an expense space where analog calculation cells are installed at each node. Every cell performs a specific calculation repeatedly until there is no changed in any of outputs of the cells. If an output value of a start point position cell is below a certain small value, a pumm-up value Ip is added only to an output value of cells where the output value is above a certain value and applies it as an input value. In this respect, if a new input value is greater than Imax, the new input value is used as Imax. If an output value of the start point position cell is greater than '0', an optimal path is determined along cells satisfying a specific condition after starting from a start point. If there is no cell existing around, the current cell is determined a subgoal and the optimal path obtained until reading the subgoal is stored. The subgoal as obtained is determined as a start point and the processes are repeatedly performed from the first step until the optimal path reaches the final goal.
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