Cellular automata in robot path planning

摘要

Cellular automata model is a powerful instrument used in many applications. In this paper we present an algorithm based on cellular automata for the path planning of a simple rigid body in a planar workspace with obstacles well known a priori. The environment model is realized with a regular decomposition in cells of predefined regular shape. The object has an orientation and has the limitation of moving forward on a smoothed trajectory without stopping and turning in place and with a minimum radius of curvature. We have implemented different versions of the algorithm, showing different properties of the model. The method is illustrated on examples with different characteristics to demonstrate the possibility of use on a real robot in a real environment.