DocumentCode
3249289
Title
Cellular automata-based collision-free robot path planning
Author
Tzionas, P. ; Tsalides, Ph. ; Thanailakis, A.
Author_Institution
Sect. of Electron. & Inf., Democritus Univ. of Thrace, Xanthi, Greece
fYear
1995
fDate
29 Aug-1 Sep 1995
Firstpage
823
Lastpage
828
Abstract
This paper presents a new parallel algorithm for collision-free path planning of a diamond-shaped robot among arbitrarily-shaped obstacles and its implementation in VLSI. The proposed algorithm is based on the computational geometry concept known as the “Voronoi diagram”, which is constructed through the time evolution of Cellular Automata, after an initial phase during which the boundaries of obstacles are identified and coded with respect to their orientation
Keywords
cellular automata; computational geometry; mobile robots; path planning; Cellular Automata; Voronoi diagram; collision-free robot path planning; computational geometry; diamond-shaped robot; parallel algorithm; path planning; Computational geometry; Information systems; Land vehicles; Motion planning; Parallel algorithms; Parallel robots; Path planning; Robotics and automation; Shape; Very large scale integration;
fLanguage
English
Publisher
ieee
Conference_Titel
Design Automation Conference, 1995. Proceedings of the ASP-DAC '95/CHDL '95/VLSI '95., IFIP International Conference on Hardware Description Languages. IFIP International Conference on Very Large Scal
Conference_Location
Chiba
Print_ISBN
4-930813-67-0
Type
conf
DOI
10.1109/ASPDAC.1995.486409
Filename
486409
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