A new CNN based path planning algorithm improved by the Doppler effect

Many path planning and navigation papers using Cellular Neural/Nonlinear Networks (CNN) are found in literature. High proportion of these works originated by wave processing feature of CNN. This paper proposes a special condition of a known Cellular Nonlinear Network model which makes the network very proper to obtain nested and repetitive travelling waves. The Doppler effect appears as a corollary using this special condition. The main contribution of the Doppler effect to the path planning applications that uses CNNs is giving an opportunity to adjust the tracker´s speed or change the route completely, dependent to the target´s motion. By this way, this paper gains a new qualification to the CNN-based wave computing techniques putting the wave source´s motion into use.