{"id":"https://openalex.org/W7225336387","doi":"https://doi.org/10.3389/fnbot.2026.1907089","title":"Path planning algorithm based on pulse-coupled neural network with dual constraints of heading-deviation and node penalty","display_name":"Path planning algorithm based on pulse-coupled neural network with dual constraints of heading-deviation and node penalty","publication_year":2026,"publication_date":"2026-11-05","ids":{"openalex":"https://openalex.org/W7225336387","doi":"https://doi.org/10.3389/fnbot.2026.1907089"},"language":"en","primary_location":{"id":"doi:10.3389/fnbot.2026.1907089","doi":"https://doi.org/10.3389/fnbot.2026.1907089","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2026.1907089","pdf_url":"https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2026.1907089/pdf","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","norway-1","poland-70","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2026.1907089/pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5160939540","display_name":"Yongsheng Xu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I124644866","display_name":"Northwest Minzu University","ror":"https://ror.org/04cyy9943","country_code":"CN","type":"education","lineage":["https://openalex.org/I124644866"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongsheng Xu","raw_affiliation_strings":["College of Electric Engineering, Northwest Minzu University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electric Engineering, Northwest Minzu University","institution_ids":["https://openalex.org/I124644866"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013176694","display_name":"\u5f20\u4e07\u5b8f","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I124644866","display_name":"Northwest Minzu University","ror":"https://ror.org/04cyy9943","country_code":"CN","type":"education","lineage":["https://openalex.org/I124644866"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanhong Zhang","raw_affiliation_strings":["College of Electric Engineering, Northwest Minzu University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electric Engineering, Northwest Minzu University","institution_ids":["https://openalex.org/I124644866"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5115594921","display_name":"Xiaoyan Wang","orcid":"https://orcid.org/0009-0007-3562-5202","observed_orcids":["https://orcid.org/0009-0007-3562-5202"]},"institutions":[{"id":"https://openalex.org/I124644866","display_name":"Northwest Minzu University","ror":"https://ror.org/04cyy9943","country_code":"CN","type":"education","lineage":["https://openalex.org/I124644866"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyan Wang","raw_affiliation_strings":["College of Electric Engineering, Northwest Minzu University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electric Engineering, Northwest Minzu University","institution_ids":["https://openalex.org/I124644866"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5160939540"],"corresponding_institution_ids":["https://openalex.org/I124644866"],"apc_list":{"value":3150,"currency":"CHF","value_usd":3801},"apc_paid":{"value":3150,"currency":"CHF","value_usd":3801},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"20","issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.00039999998989515007,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.00019999999494757503,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/path-planning","display_name":"path planning","score":0.8709999918937683},{"id":"https://openalex.org/keywords/pulse-coupled-neural-network","display_name":"pulse coupled neural network","score":0.925000011920929},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"mobile robot navigation","score":0.8859999775886536},{"id":"https://openalex.org/keywords/neuronal-activation","display_name":"neuronal activation","score":0.47200000286102295},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"obstacle avoidance","score":0.652999997138977},{"id":"https://openalex.org/keywords/search-efficiency","display_name":"search efficiency","score":0.3959999978542328}],"concepts":[{"id":"https://openalex.org/C2625741","wikidata":"https://www.wikidata.org/wiki/Q1069450","display_name":"Autowave","level":2,"score":0.871999979019165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8194000124931335},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6114000082015991},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5817000269889832},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.536899983882904},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5307999849319458},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4609000086784363},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4499000012874603},{"id":"https://openalex.org/C155032097","wikidata":"https://www.wikidata.org/wiki/Q798503","display_name":"Backpropagation","level":3,"score":0.41679999232292175},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4104999899864197},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.40689998865127563},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.4020000100135803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39820000529289246},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3856000006198883},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.34700000286102295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33489999175071716},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.33399999141693115},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.3107999861240387},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.30869999527931213},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.3050000071525574},{"id":"https://openalex.org/C141934464","wikidata":"https://www.wikidata.org/wiki/Q3305386","display_name":"Local optimum","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.27950000762939453},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26260000467300415},{"id":"https://openalex.org/C6180225","wikidata":"https://www.wikidata.org/wiki/Q3411771","display_name":"Penalty method","level":2,"score":0.26159998774528503},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.2603999972343445},{"id":"https://openalex.org/C831591","wikidata":"https://www.wikidata.org/wiki/Q59750","display_name":"Bidirectional search","level":5,"score":0.2578999996185303},{"id":"https://openalex.org/C147297375","wikidata":"https://www.wikidata.org/wiki/Q6674930","display_name":"Look-ahead","level":2,"score":0.25589999556541443}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3389/fnbot.2026.1907089","doi":"https://doi.org/10.3389/fnbot.2026.1907089","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2026.1907089","pdf_url":"https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2026.1907089/pdf","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","norway-1","poland-70","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:c4cb259ac06e4b16940962b863d3b789","doi":null,"is_oa":false,"landing_page_url":"https://doaj.org/article/c4cb259ac06e4b16940962b863d3b789","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Neurorobotics, Vol 20 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/fnbot.2026.1907089","doi":"https://doi.org/10.3389/fnbot.2026.1907089","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2026.1907089","pdf_url":"https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2026.1907089/pdf","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","norway-1","poland-70","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G5307817243","display_name":null,"funder_award_id":"31920250010","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7225336387.pdf","grobid_xml":"https://content.openalex.org/works/W7225336387.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W2911706123","https://openalex.org/W2965996200","https://openalex.org/W3019349330","https://openalex.org/W3123538634","https://openalex.org/W3138919713","https://openalex.org/W3159605226","https://openalex.org/W3163638304","https://openalex.org/W4212979473","https://openalex.org/W4220878860","https://openalex.org/W4221049241","https://openalex.org/W4281681739","https://openalex.org/W4319663818","https://openalex.org/W4389670497","https://openalex.org/W4396215678","https://openalex.org/W4399168912","https://openalex.org/W4399364959","https://openalex.org/W4401391978","https://openalex.org/W4406188513","https://openalex.org/W4406386036","https://openalex.org/W4410951408"],"related_works":["https://openalex.org/W1989797724","https://openalex.org/W2136927498","https://openalex.org/W2011713560","https://openalex.org/W7099130899","https://openalex.org/W4405534362","https://openalex.org/W2148332992","https://openalex.org/W2367963460","https://openalex.org/W4415179516","https://openalex.org/W7214740769","https://openalex.org/W7084036715"],"abstract_inverted_index":{"Path":[0],"planning":[1,88,191],"for":[2,114],"mobile":[3],"robots":[4],"is":[5],"a":[6,67,84,111,149,203,283,301],"crucial":[7],"aspect":[8],"of":[9,55,66,70,122,158,234,317],"robot":[10],"navigation.":[11],"Traditional":[12],"search":[13,21,27,79,229,272],"algorithms":[14],"are":[15],"limited":[16],"by":[17],"heuristic":[18],"design":[19],"and":[20,29,44,132,188,215,257,263,271,296],"strategies,":[22],"often":[23],"struggling":[24],"to":[25,47,90,164,288,293],"balance":[26],"efficiency":[28],"path":[30,87,163,247],"quality":[31],"in":[32,58,221,275,309],"intricate":[33],"obstacle":[34,213,216,277],"environments.":[35],"The":[36,95,107,145,245],"Pulse-Coupled":[37],"Neural":[38],"Network":[39],"(PCNN)":[40],"offers":[41],"inherent":[42],"parallelism":[43],"completeness":[45],"due":[46],"its":[48,267],"autowave":[49,104,139,185],"propagation":[50,105,140,186],"mechanism.":[51,320],"Nevertheless,":[52],"the":[53,59,64,92,102,119,126,130,138,142,155,162,168,176,183,195,251,255,279,305,315,318],"lack":[54],"directional":[56,290],"guidance":[57],"neuron":[60],"activation":[61,65],"process":[62],"necessitates":[63],"significant":[68],"number":[69],"free":[71],"grid":[72],"cells":[73],"on":[74,125],"extensive":[75],"maps,":[76],"thereby":[77],"impeding":[78],"efficiency.":[80,192,273],"This":[81,135],"paper":[82],"introduces":[83],"Dual-Constrained":[85],"PCNN":[86,103,184],"algorithm":[89,96,177],"tackle":[91],"aforementioned":[93],"issues.":[94],"incorporates":[97],"two":[98,174],"constraint":[99],"mechanisms":[100],"within":[101],"framework.":[106],"first":[108],"mechanism":[109,147],"involves":[110,148],"penalty":[112,151],"term":[113,152],"heading":[115],"deviation,":[116],"which":[117,160],"adjusts":[118,154],"internal":[120],"activity":[121],"neurons":[123],"based":[124],"angle":[127],"deviation":[128],"between":[129,254],"current":[131],"target":[133],"directions.":[134],"adjustment":[136],"facilitates":[137],"toward":[141,167],"desired":[143],"direction.":[144],"second":[146],"node":[150],"that":[153,220],"dynamic":[156],"threshold":[157],"neurons,":[159],"guides":[161],"converge":[165],"precisely":[166],"goal.":[169],"By":[170],"synergistically":[171],"integrating":[172],"these":[173],"constraints,":[175],"effectively":[178],"reduces":[179],"redundant":[180],"activation,":[181],"improves":[182],"process,":[187],"ultimately":[189],"enhances":[190],"To":[193],"assess":[194],"proposed":[196],"method\u2019s":[197,306],"generalization":[198,270],"ability":[199],"across":[200,232],"diverse":[201],"environments,":[202],"comprehensive":[204],"experimental":[205],"setup":[206],"was":[207],"devised,":[208],"encompassing":[209],"varied":[210],"map":[211,243],"dimensions,":[212],"densities,":[214],"configurations.":[217],"Results":[218],"indicate":[219],"environments":[222],"with":[223,237,242,250],"sparse":[224],"obstacles,":[225],"DC-PCNN":[226,281],"demonstrates":[227],"consistent":[228],"success":[230,285,307],"rates":[231],"maps":[233],"different":[235],"sizes,":[236],"path-planning":[238],"runtime":[239],"increasing":[240],"linearly":[241],"dimensions.":[244],"resulting":[246],"closely":[248],"aligns":[249],"straight-line":[252],"distance":[253],"start":[256],"goal":[258,297],"points,":[259],"featuring":[260],"minimal":[261],"turns":[262],"smooth":[264],"trajectory,":[265],"underscoring":[266],"robust":[268],"cross-scale":[269],"Conversely,":[274],"high-density":[276,310],"settings,":[278],"fixed-parameter":[280],"exhibits":[282],"reduced":[284],"rate":[286,308],"attributed":[287],"excessive":[289],"bias,":[291],"leading":[292],"local":[294],"entrapment":[295],"failure.":[298],"Upon":[299],"implementing":[300],"parameter":[302],"adaptive":[303,319],"strategy,":[304],"scenarios":[311],"significantly":[312],"improves,":[313],"affirming":[314],"efficacy":[316]},"counts_by_year":[],"updated_date":"2026-11-09T13:22:03.289127","created_date":"2026-11-06T00:00:00"}