Path planning based on intermediate targets using Cellular Neural Networks

This paper presents a series of image processing methods which can be used in order to get the trajectory of a mobile robot that moves in a real environment with obstacles. There are many situations when the distance between the robot and the final target is relatively long. In this case the intermediate targets are useful. On the other hand, the CNNs (Cellular Neural Networks) are considered a good solution for signal processing and especially for image processing where processing time is very important.