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
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;
Conference_Titel :
Autonomous Decentralized Systems, 1993. Proceedings. ISADS 93., International Symposium on
Conference_Location :
Kawasaki
Print_ISBN :
0-8186-3125-2
DOI :
10.1109/ISADS.1993.262702
