Robot path planning algorithm based on cellular automata - Details

Author：

Yu, Nai-Gong (Yu, Nai-Gong.) (Scholars：于乃功) | Wang, Sheng (Wang, Sheng.) (Scholars：盛望) | Ruan, Xiao-Gang (Ruan, Xiao-Gang.)

Indexed by：

EI Scopus PKU CSCD

Abstract：

For　global　optimal　path　planning　of　mobile　robot,　a　path　planning　algorithm　based　on　cellular　automata　is　proposed.　This　algorithm　defines　the　robot＇s　starting　point,　target　point　and　the　obstacle　points　in　the　environment　as　a　group　of　discrete　cellular　states,　and　builds　cellular　automata　model　of　environment,　then　designs　evolution　rules　by　the　robot＇s　Manhattan　distance.　Finally,　the　optimal　path　can　be　found　out　according　to　the　cellular　states　after　evolution.　The　simulation　results　show　the　effectiveness　of　the　proposed　algorithm.

Keyword：

Robot programming Machine design Mobile robots Motion planning Cellular automata

Author Community：

[ 1 ] [Yu, Nai-Gong]College of Electronic and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Wang, Sheng]College of Electronic and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 3 ] [Ruan, Xiao-Gang]College of Electronic and Control Engineering, Beijing University of Technology, Beijing 100124, China