DocumentCode
3484609
Title
A hybrid architecture for mobile robots based on decentralized, parallel path planning
Author
Dubash, Rumi M. ; Bastani, Farokh B.
Author_Institution
Dept. of Comput. Sci., Houston Univ., TX, USA
fYear
1993
fDate
1993
Firstpage
206
Lastpage
214
Abstract
A hybrid model that takes advantage of decentralization and parallelism is presented. It uses a decentralized massively parallel solution to the general path planning problem in the presence of obstacles. It is based on a cellular automaton, wavefront propagation model. Its applicability in planning the motion of autonomous robots is shown. The case study demonstrates the practical feasibility of the proposed model as an alternative to the existing approaches
Keywords
cellular automata; decentralised control; mobile robots; parallel algorithms; path planning; cellular automaton; decentralized path planning; hybrid architecture; mobile robots; parallel path planning; wavefront propagation model; Computer architecture; Computer science; Control systems; Hardware; Intelligent robots; Mobile robots; Parallel processing; Path planning; Robot control; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Autonomous Decentralized Systems, 1993. Proceedings. ISADS 93., International Symposium on
Conference_Location
Kawasaki
Print_ISBN
0-8186-3125-2
Type
conf
DOI
10.1109/ISADS.1993.262702
Filename
262702
Link To Document