Cellular automata (CA) model is a powerful instrument used in many applications. In this paper we present a reactive path-planning algorithm for a non-holonomic mobile robot on multilayered cellular automata, The robot considered has a preferential motion direction and has to move using smoothed trajectories, without stopping and turning in place, and with a minimum steering radius. We have implemented a new algorithm based on a directional (anisotropic) propagation of repulsive and attracting potential values in a multilayered cellular automata model. The algorithm finds all the optimal collision-free trajectories following the minimum valley of a potential hypersurface embedded in a 4D space, built respecting the imposed constraints. Our approach turns out to be distributed and incremental: whenever changing the initial or the final pose, or the obstacles distribution, the automata start evolving towards a new global steady state, looking for a new set of solutions. Because it reacts to obstacles distribution changes, it can be also used in unknown or dynamical environments in combination with a world modeler. The path-planning algorithm is applicable on a wide class of vehicles kinematics, selected changing a set of weights. (C) 2002 Elsevier Science B.V. All rights reserved.
Marchese, F.M. (2002). A directional diffusion algorithm on cellular automata for robot path-planning. FUTURE GENERATION COMPUTER SYSTEMS, 18(7), 983-994 [10.1016/S0167-739X(02)00077-8].
Citazione: | Marchese, F.M. (2002). A directional diffusion algorithm on cellular automata for robot path-planning. FUTURE GENERATION COMPUTER SYSTEMS, 18(7), 983-994 [10.1016/S0167-739X(02)00077-8]. | |
Tipo: | Articolo in rivista - Articolo scientifico | |
Carattere della pubblicazione: | Scientifica | |
Presenza di un coautore afferente ad Istituzioni straniere: | No | |
Titolo: | A directional diffusion algorithm on cellular automata for robot path-planning | |
Autori: | Marchese, FM | |
Autori: | ||
Data di pubblicazione: | 2002 | |
Lingua: | English | |
Rivista: | FUTURE GENERATION COMPUTER SYSTEMS | |
Digital Object Identifier (DOI): | http://dx.doi.org/10.1016/S0167-739X(02)00077-8 | |
Appare nelle tipologie: | 01 - Articolo su rivista |