一种基于元胞自动机的机器人运动规划算法

Cellular Automata Model's Application in Modular Self-Reconfiguration Planning

利用元胞自动机模型对周围环境已知的机器人的运动进行规划。对机器人所在空间建模后,通过演化规则计算最短路径,使机器人成功避开障碍到达终点。实验结果表明机器人能快速搜索到无碰路径,证明该算法的可行性和有效性。

This paper presents an algorithm using cellular automata to for the solution of the path planning problem for a mobile robot which is in the known environment. After setting up a model, we use rules to compute the shortest path for robot to reach the final point.＇ The result of experiment shows that robots can search the shortest path without collision, and the feasibility and validity of the research.