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2018 | OriginalPaper | Chapter

An Improved Robot Path Planning Model Using Cellular Automata

Authors : Luiz G. A. Martins, Rafael da P. Cândido, Mauricio C. Escarpinati, Patricia A. Vargas, Gina M. B. de Oliveira

Published in: Towards Autonomous Robotic Systems

Publisher: Springer International Publishing

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Abstract

Bio-inspired techniques have been successfully applied to the path-planning problem. Amongst those techniques, Cellular Automata (CA) have been seen a potential alternative due to its decentralized structure and low computational cost. In this work, an improved CA model is implemented and evaluated both in simulation and real environments using the e-puck robot. The objective was to construct a collision-free path plan from the robot initial position to the target position by applying the refined CA model and environment pre-processed images captured during its navigation. The simulations and real experiments show promising results on the model performance for a single robot.

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Metadata
Title
An Improved Robot Path Planning Model Using Cellular Automata
Authors
Luiz G. A. Martins
Rafael da P. Cândido
Mauricio C. Escarpinati
Patricia A. Vargas
Gina M. B. de Oliveira
Copyright Year
2018
Book
Towards Autonomous Robotic Systems

Print ISBN: 978-3-319-96727-1

Electronic ISBN: 978-3-319-96728-8

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-96728-8_16

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