Algorithm based on massively parallel connectionist network for path planning

The algorithm inherits the basic idea of the potential energy field method. By searching the minimum value of the energy function, the collision free path can be found. Because a balance coefficient between the reject potential energy field and the attract potential energy field is introduced in the algorithm, and simulated annealing and some heuristic method are used in the algorithm, some local minimum value can be avoided. Compared with the method only using potential energy field, the parallel degree of this algorithm is higher, the convergence velocity of the algorithm is quicker, and it is easier to develop the algorithm from two dimensions to three dimensions.