In this paper we present a Path-Planning Algorithm for a non-holonomic mobile robot. The robot we considered has to move using smoothed trajectories, without stopping and turning in place, and with a minimum steering radius. We have studied an algorithm based on a directional (anisotropic) propagation of attracting potential values on a Multilayered Cellular Automata model. The algorithm finds all the optimal collision-free trajectories following the minimum valley of a 3D potential hypersurface embedded in a 4D space, built respecting the imposed constraints. Our approach turn out to be distributed and reactive to environmental dynamics. It is also flexible, because it is applicable on a wide class of vehicles with generic shapes and with different kinematics
Citazione: | Marchese, F.M. (2002). A path-planner for mobile robots of generic shape with multilayered cellular automata. In Cellular Automata, Proceedings (pp.178-189). BERLIN. |
Tipo: | paper |
Carattere della pubblicazione: | Scientifica |
Presenza di un coautore afferente ad Istituzioni straniere: | No |
Titolo: | A path-planner for mobile robots of generic shape with multilayered cellular automata |
Autori: | Marchese, FM |
Autori: | |
Data di pubblicazione: | 2002 |
Lingua: | English |
Nome del convegno: | International Conference on Cellular Automata for Research and Industry OCT 09-11 |
ISBN: | 3-540-44304-5 |
Serie: | LECTURE NOTES IN COMPUTER SCIENCE |
Appare nelle tipologie: | 02 - Intervento a convegno |