Robot path planning algorithm based on cellular automata - 文章详情页

作者：

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

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EI Scopus PKU CSCD

摘要：

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.

关键词：

Cellular automata Machine design Mobile robots Motion planning Robot programming

作者机构：

[ 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

通讯作者信息：

电子邮件地址：

yunaigong@bjut.edu.cn

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