The architecture of a reactive path-planner for mobile robots based on cellular automata

Authors:
Fabio M. Marchese
Affiliations:
Dipartimento di Informatica, Sistemistica e Comunicazione, Università degli Studi di Milano – Bicocca, Milano, Italy
Venue:
AI*IA'05 Proceedings of the 9th conference on Advances in Artificial Intelligence
Year:
2005

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Abstract

The aim of this paper is to describe the architecture of a Path Planner for Mobile Robots based on the paradigm of Cellular Automata. This path planner is very flexible, handling robots with quite different kinematics (omnidirectional, car-like, asymmetrical, etc.), with generic shapes (even with concavities and holes) and with generic cinematic centers locations. It can be applied to flat (Euclidean) Work Space and to natural variable terrains. Thanks to this architecture based a Potential Fields Method, it turns out to be very fast, complete and optimal, allowing to react to the world dynamics (reactive planning), generating new optimal solutions every time the obstacles positions changes.