An improved robot path planning model using cellular automata

Luiz G.A. Martins; Rafael da P. Cândido; Mauricio C. Escarpinati; Patricia A. Vargas; Gina M. B. de Oliveira

doi:10.1007/978-3-319-96728-8_16

An improved robot path planning model using cellular automata

Luiz G.A. Martins, Rafael da P. Cândido, Mauricio C. Escarpinati, Patricia A. Vargas, Gina M. B. de Oliveira

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

Bio-inspired techniques have been successfully applied to the path-planning problem. Amongst those techniques, Cellular Automata (CA) have been seen a potential alternative due to its decentralized structure and low computational cost. In this work, an improved CA model is implemented and evaluated both in simulation and real environments using the e-puck robot. The objective was to construct a collision-free path plan from the robot initial position to the target position by applying the refined CA model and environment pre-processed images captured during its navigation. The simulations and real experiments show promising results on the model performance for a single robot.

Original language	English
Title of host publication	TAROS 2018
Subtitle of host publication	Towards Autonomous Robotic Systems
Publisher	Springer
Pages	183-194
Number of pages	12
ISBN (Electronic)	9783319967288
ISBN (Print)	9783319967271
DOIs	https://doi.org/10.1007/978-3-319-96728-8_16
Publication status	Published - 21 Jul 2018
Event	19th Annual Conference on Towards Autonomous Robotic Systems 2018 - Bristol, United Kingdom Duration: 25 Jul 2018 → 27 Jul 2018

Publication series

Name	Lecture Notes in Computer Science
Publisher	Springer
Volume	10965
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	19th Annual Conference on Towards Autonomous Robotic Systems 2018
Abbreviated title	TAROS 2018
Country	United Kingdom
City	Bristol
Period	25/07/18 → 27/07/18

Keywords

Autonomous robotics
Cellular automata
Path-planning

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-319-96728-8_16

Link to publication in Scopus

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Cite this

Martins, L. G. A., Cândido, R. D. P., Escarpinati, M. C., Vargas, P. A., & de Oliveira, G. M. B. (2018). An improved robot path planning model using cellular automata. In TAROS 2018: Towards Autonomous Robotic Systems (pp. 183-194). (Lecture Notes in Computer Science; Vol. 10965). Springer. https://doi.org/10.1007/978-3-319-96728-8_16

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title = "An improved robot path planning model using cellular automata",

abstract = "Bio-inspired techniques have been successfully applied to the path-planning problem. Amongst those techniques, Cellular Automata (CA) have been seen a potential alternative due to its decentralized structure and low computational cost. In this work, an improved CA model is implemented and evaluated both in simulation and real environments using the e-puck robot. The objective was to construct a collision-free path plan from the robot initial position to the target position by applying the refined CA model and environment pre-processed images captured during its navigation. The simulations and real experiments show promising results on the model performance for a single robot.",

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Martins, LGA, Cândido, RDP, Escarpinati, MC, Vargas, PA & de Oliveira, GMB 2018, An improved robot path planning model using cellular automata. in TAROS 2018: Towards Autonomous Robotic Systems. Lecture Notes in Computer Science, vol. 10965, Springer, pp. 183-194, 19th Annual Conference on Towards Autonomous Robotic Systems 2018, Bristol, United Kingdom, 25/07/18. https://doi.org/10.1007/978-3-319-96728-8_16

An improved robot path planning model using cellular automata. / Martins, Luiz G.A.; Cândido, Rafael da P.; Escarpinati, Mauricio C.; Vargas, Patricia A.; de Oliveira, Gina M. B.

TAROS 2018: Towards Autonomous Robotic Systems. Springer, 2018. p. 183-194 (Lecture Notes in Computer Science; Vol. 10965).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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