Abstract
This paper builds upon earlier work on the wave expansion neural network (WENN) which is a neural network capable of implementing wavefront expansion operations useful for developing potential fields for path planning. The discretized operational space or configuration space (C-Space) is mapped on to the WENN neural field which subsequently develops the artificial potential field over the C-space. The WENN has been applied to develop a simple attractive potential field and a repulsive potential field over two dimensional workspaces.