Coordinate planning using genetic algorithm-structure configuration of cellular robotic system

The authors deal with coordinate planning for the structural configuration of the cellular robotic system (CEBOT), which consists of a large number of autonomous robotic units called cells. The structure is based on biological organization, using autonomous intelligent cells that are simple in function. Because of the cellular structure, the robotic system can reconfigure itself according to the given tasks, the environment, and its own condition. A distribution decision-making method is given for path planning to attain a desirable structural configuration system, using a genetic algorithm. The concept is that of a distributed intelligence, because calculation ability resides in each unit of the system. In the distributed genetic algorithm proposed, the survivor selected for the next generation is based on communication between cells. Simulation results for path planning are presented