Spiking Neural Networks (SNNs) represent a new generation of artificial neural networks that draw inspiration from biological systems. However, due to the intricate dynamics they exhibit and the discontinuity inherent...
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Spiking Neural Networks (SNNs) represent a new generation of artificial neural networks that draw inspiration from biological systems. However, due to the intricate dynamics they exhibit and the discontinuity inherent in spike signals, SNNs often encounter performance limitations when addressing optimization problems. In this paper, we introduce the Graph-connected Spiking Neural Network model (GSNN), an extension of the SNN framework. The GSNN model holds the potential for integration with various existing pathplanning methods, rendering it applicable to a wide array of common pathplanning tasks. We specifically present two fundamental models within the GSNN framework. The first model employs GSNN to extract heuristic information from constrained pixel maps. This extracted data is then amalgamated with a novel sampling method, resulting in enhanced planning efficiency when compared to conventional techniques. The second model leverages GSNN to map a weighted graph, effectively utilizing plasticity methods to ascertain the shortest path within the graph. Moreover, this model facilitates pathplanning under diverse constraint environments, encompassing dynamic considerations, cost-awareness, and the collision dimensions of moving objects. Recognizing that the size of pixel maps or the number of nodes within weighted graphs might constrain GSNN's capabilities, we propose a partitioning strategy to address this limitation. Empirical results unequivocally demonstrate the superiority of both GSNN models in resolving static pathplanning problems. Furthermore, the second GSNN model demonstrates rational performance across various constrained scenarios.
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