The robot path planning under unknown plane environments is reviewed from an energy-consuming viewpoint, and a novel path planning algorithm based on the local minimum energy is proposed.

The design of CHNN should ensure that the networks always converge to a steady sate corresponding to a local minimum point of energy function by running in spite of starting from any initial values.

The result of maximum energy method depends on the initial values of residual statics. The solution is often trapped into the local minimum of the objective function.