This study introduces a novel approach for enhancing robotic path planning and navigation by optimizing point configuration through convolutional neural networks (CNNs). Faced with the challenge of precise area coverage and the inefficiency of traditional traversal and intelligent algorithms (e.g., genetic algorithms, particle swarm optimization) in point layout, we proposed a CNN-based optimization model. This model not only tackles the issues of speed and accuracy in point configuration with Gaussian distribution characteristics but also significantly improves the robot\'s capability to efficiently navigate and cover designated areas with high precision. Our methodology begins with defining a coverage index, followed by an optimization model that integrates polygon image features with the variability of Gaussian distribution. The proposed CNN model is trained with datasets generated from systematic point configurations, which then predicts optimal layouts for enhanced navigation. Our method achieves an experimental result error of <8% on the test dataset. The results validate effectiveness of the proposed model in achieving efficient and accurate path planning for robotic systems.

A bounded cost path planning method is developed for underwater vehicles assisted by a data-driven flow modeling method. The modeled flow field is partitioned as a set of cells of piece-wise constant flow speed. A flow partition algorithm and a parameter estimation algorithm are proposed to learn the flow field structure and parameters with justified convergence. A bounded cost path planning algorithm is developed taking advantage of the partitioned flow model. An extended potential search method is proposed to determine the sequence of partitions that the optimal path crosses. The optimal path within each partition is then determined by solving a constrained optimization problem. Theoretical justification is provided for the proposed extended potential search method generating the optimal solution. The path planned has the highest probability to satisfy the bounded cost constraint. The performance of the algorithms is demonstrated with experimental and simulation results, which show that the proposed method is more computationally efficient than some of the existing methods.