Dynamic world model with the lazy potential function

Authors:
Konrad Kułakowski;Tomasz Stępień
Affiliations:
Institute of Automatics, AGH University of Science and Technology, Cracow, Poland;Institute of Automatics, AGH University of Science and Technology, Cracow, Poland
Venue:
KES-AMSTA'11 Proceedings of the 5th KES international conference on Agent and multi-agent systems: technologies and applications
Year:
2011

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Abstract

One of the fundamental skills of an autonomous mobile robot is its ability to determine a collision-free path in a dynamically changing environment. To meet this challenge, robots often have their own world model - an internal representation of the environment. Such a representation allows them to predict future changes to the environment, and thus to plan further moves and actions. This paper presents an agent-oriented dynamic world model built on top of asynchronous non-homogeneous cellular automaton, equipped with the new collision-free path finding algorithm based on a lazy potential field function. The presented abstract model is preliminarily verified using a specially designed middleware library supporting cellular model simulations.