title: A novel discrete zeroing neural network for online solving time-varying nonlinear optimization problems
abstract: To reduce transportation time, a discrete zeroing neural network (DZNN) method is proposed to solve the shortest path planning problem with a single starting point and a single target point. The shortest path planning problem is reformulated as an optimization problem, and a discrete nonlinear function related to the energy function is established so that the lowest-energy state corresponds to the optimal path solution. Theoretical analyzes demonstrate that the discrete ZNN model (DZNNM) exhibit
journal: Frontiers in Neurorobotics