An Improved Spinal Neural System Based Method for Mobile Robot Navigation

In this paper, a kind of behaviour based navigation is studied, which is inspired from the spinal neural system. To deal with the deficiency of the general spinal neural algorithm, the virtual force field (VFF) algorithm is used. In the proposed method, the local obstacle avoidance is realized by the general spinal neural algorithm and the VFF algorithm is used to achieve global navigation by constructing the force environment of the robot. Finally, the simulation experiments are con- ducted and the results show that the real-time performance and the path length of the robot can be optimized by the proposed method.