An Algorithm for Robot Path Planning with Cellular Automata

Abstract

The application of Cellular Automata to the problem of robot path planning is presented. It is shown that a Cellular Automata allows the efficient computation of an optimal collision free path from an initial to a goal configuration on a physical space cluttered with obstacles. The cellular space represents a discrete version of the workspace for a mobile robot. The path computation is performed by the successive application of two simple local transition functions. The method was experimentally tested for a small robot on a real environment, in all cases very good paths were obtained with negligible computer effort. These results indicate that the Cellular Automata approach is a very promising method for real time robot path planning

Modeling Robot Path Planning with CD++

“…We can find the shortest path based using a flooding technique like in [6]. We built a Cell-DEVS model to generate the shortest path: a cell is considered to be part of a valid path if its value is larger or equal to the robot size (valid cells).…”

“…Ten different states can be defined for each cell: empty (0), occupied by a non-moving module (1), occupied by an obstacle, or occupied by a robot moving in N/S/E/W direction (3)(4)(5)(6)(7)(8)(9). The model uses a modified Moore Neighborhood.…”

“…The diagram associates every point pj to their closest points pi (i ≠j), conforming covering sets [5,6]. Points equidistant to two elements in P define the border of a region.…”

Indoor target intercept using an acoustic sensor network and dual wavefront path planning

“…Several variations of the wavefront propagation algorithm have been implemented, such as Murphy's Trulla system [7]. Our approach is similar to the work of Behring, et al [8]. However, we make modifications to the Behring algorithm, which are described in section IV.…”

“…Our approach is similar to the work of Behring, et al [8]. However, we make two modifications to the Behring algorithm.…”