Open AccessCellular Automata Based Real-Time Path-Planning for Mobile Robots
Author(s) -
Shahzad Ahmed,
Arsalan Akhter,
Faraz Kunwar
Publication year - 2014
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/58544
Subject(s) - computer science , cellular automaton , dijkstra's algorithm , motion planning , shortest path problem , scheme (mathematics) , path (computing) , automaton , pathfinding , mobile robot , robot , mathematical optimization , distributed computing , theoretical computer science , real time computing , algorithm , artificial intelligence , mathematics , computer network , graph , mathematical analysis
Intelligent mobile robotic agents demand optimal motion planners with minimal query time. Most contemporary algorithms lack one of these two required aspects. This paper proposes an efficient path-planning scheme based on cellular automata (CA) that generates optimal paths in the minimum time. A Cellular automaton is evolved over the entire search space and subsequently used for the determination of the shortest path. This approach generates a parent-child relationship for each cell in order to minimize the search time. Performance comparisons with A*, Dijkstra's, D* and MPCNN have proven it to be time-efficient. Analysis, simulation and experimental results have proven it to be a robust and complete path-planning scheme. Also it has demonstrated to be time-efficient in both static and dynamic environments