Modeling robot path planning with CD++

Authors:
Gabriel Wainer
Affiliations:
Department of Systems and Computer Engineering, Carleton University, Ottawa, Ontario, Canada
Venue:
ACRI'06 Proceedings of the 7th international conference on Cellular Automata for Research and Industry
Year:
2006

Citing 4
Cited 1

Theory of Modeling and Simulation

Theory of Modeling and Simulation
N-dimensional Cell-DEVS Models

Discrete Event Dynamic Systems
CD++: a toolkit to develop DEVS models

Software—Practice & Experience
An Algorithm for Robot Path Planning with Cellular Automata

Proceedings of the Fourth International Conference on Cellular Automata for Research and Industry: Theoretical and Practical Issues on Cellular Automata

GPU Accelerated Computation and Visualization of Hexagonal Cellular Automata

ACRI '08 Proceedings of the 8th international conference on Cellular Automata for Reseach and Industry

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Abstract

Robotic systems are usually built as independent agents that collaborate to accomplish a specific task Analysis of robot path planning consists of route planning and path generation We will show how to apply the Cell-DEVS formalism and the CD++ toolkit for these tasks We present a Cell-DEVS model for route planning, which, based on the obstacles, finds different paths available and creates a Voronoi diagram Then, we show route planning using the Voronoi diagram to determines an optimal path free of collision Finally, we introduce a Cell-DEVS model that can be applied to the routing of self-reconfigurable robots.