A hybrid architecture for mobile robots based on decentralized, parallel path planning

Abstract

A hybrid model that takes advantage of decentralization and parallelism is presented. It uses a decentralized massively parallel solution to the general path planning problem in the presence of obstacles. It is based on a cellular automaton, wavefront propagation model. Its applicability in planning the motion of autonomous robots is shown. The case study demonstrates the practical feasibility of the proposed model as an alternative to the existing approaches.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>