元胞自动机在机器人路径规划中的应用

F. Marchese
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引用次数: 23

摘要

元胞自动机模型是一种强大的工具,应用于许多领域。本文提出了一种基于元胞自动机的简单刚体在具有已知先验障碍物的平面工作空间中的路径规划算法。环境模型是通过对预定义的规则形状的单元进行规则分解来实现的。物体有一个方向,并且有在平滑轨迹上向前移动的限制,没有停止和原地转弯,曲率半径最小。我们实现了不同版本的算法,显示了模型的不同属性。通过不同特征的实例说明了该方法在真实环境中应用于真实机器人的可能性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Cellular automata in robot path planning
Cellular automata model is a powerful instrument used in many applications. In this paper we present an algorithm based on cellular automata for the path planning of a simple rigid body in a planar workspace with obstacles well known a priori. The environment model is realized with a regular decomposition in cells of predefined regular shape. The object has an orientation and has the limitation of moving forward on a smoothed trajectory without stopping and turning in place and with a minimum radius of curvature. We have implemented different versions of the algorithm, showing different properties of the model. The method is illustrated on examples with different characteristics to demonstrate the possibility of use on a real robot in a real environment.
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