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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)


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 languageEnglish
Title of host publicationTAROS 2018
Subtitle of host publicationTowards Autonomous Robotic Systems
Number of pages12
ISBN (Electronic)9783319967288
ISBN (Print)9783319967271
Publication statusPublished - 21 Jul 2018
Event19th Annual Conference on Towards Autonomous Robotic Systems 2018 - Bristol, United Kingdom
Duration: 25 Jul 201827 Jul 2018

Publication series

NameLecture Notes in Computer Science
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference19th Annual Conference on Towards Autonomous Robotic Systems 2018
Abbreviated titleTAROS 2018
Country/TerritoryUnited Kingdom


  • Autonomous robotics
  • Cellular automata
  • Path-planning

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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