A novel path planning based on bio-inspired neurodynamics for autonomous underwater vehicles( AUVs) to carry out observation of underwater structures at close range was proposed. The model was topologically expressed in a 2D neural network based on a 2D grid map. In the model,the excitatory and inhibitory inputs to the neurons in the network were generated from the target surroundings of underwater structures and obstacles respectively. Obstacles locally push the AUVs away by negative neural activity in the...
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