Path Planing for Mobile Robot With Cellular Automata

Judhi Santoso, Bambang Riyanto, Setiono Santoso

Abstract


In this paper we propose a new approach, the robot path planning with cellular automata. The idea is based on maximum clearence technique that preserves the distance of the robot toobstacles as far as possible. An existing approach is implemented using voronoi diagram thatgenerates the candidate paths that are safe from collision with the obstacles. In fact, maximum clearence method can be solved analitically using the deformation retraction, but this approach is applicable for the continuous environment only and it requires a lot offunction computation. Hence, we solve this problem using a particular rule of cellular automata to perform the process of computation that can be done efficiently. Our approach is suitable for path planning in a grid-based environtment.


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DOI: http://dx.doi.org/10.21535%2Fjust.v1i2.25

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