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
fDate :
29 Aug-1 Sep 1995
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;
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
DOI :
10.1109/ASPDAC.1995.486409
