Neural and automata networks: dynamical behavior and applications
Neural and automata networks: dynamical behavior and applications
Multilayered cellular automata
Theoretical Computer Science - Special issue: cellular automata
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Evolution of Parallel Cellular Machines: The Cellular Programming Approach
Evolution of Parallel Cellular Machines: The Cellular Programming Approach
Robot Motion Planning
Reactive Path-Planning: a Directional Diffusion Algorithm on Multilayered Cellular Automata
Proceedings of the Fourth International Conference on Cellular Automata for Research and Industry: Theoretical and Practical Issues on Cellular Automata
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
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In this paper we present a Path-Planning Algorithm for a non-holonomic mobile robot. The robot we considered has to move using smoothed trajectories, without stopping and turning in place, and with a minimum steering radius. We have studied an algorithm based on a directional (anisotropic) propagation of attracting potential values on a Multilayered Cellular Automata model. The algorithm finds all the optimal collision-free trajectories following the minimum valley of a 3D potential hypersurface embedded in a 4D space, built respecting the imposed constraints. Our approach turn out to be distributed and reactive to environmental dynamics. It is also flexible, because it is applicable on a wide class of vehicles with generic shapes and with different kinematics.