An algorithm for robot path planning in environments with flashing off-on obstacles, using cellular automata
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Dosyalar
Tarih
2009
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Maltepe Üniversitesi
Erişim Hakkı
info:eu-repo/semantics/openAccess
CC0 1.0 Universal
CC0 1.0 Universal
Özet
This paper presents a new algorithm based on Cellular Automata (CA) for robot path planning. The main novelty
in our algorithm is that it can handle the path planning of environments that contain not only stationary obstacles, but
also contain flashing on-off obstacles with different fixed flashing periods. Using flashing on-off obstacles with different
periods, combined with stationary obstacles, we can model numerous interesting real world path planning problems. Herein
the path computation is performed by successive application of some simple transition functions and the proofs show both
progress and safety properties are preserved by algorithm. That means algorithm ”finally converges” and ”no bad” situation
happens. Verification against safety property is crucial, because unlike environments that only contain stationary obstacles,
in environments where some obstacles flash on and off, we have to ensure that robot never collides with any stationary and
flashing obstacles. We used linear temporal logic to formally specify the problem, safety and progress properties. Finally
some interesting case studies inspired from real world problems have been tested by algorithm. The results are promising
and indicate that the algorithm is time and space efficient in application.
Açıklama
Anahtar Kelimeler
Künye
Alaghmand, F., Ahmadi, V., Najafi, N., Javadi Seyyed, H. H. (2009). An algorithm for robot path planning in environments with flashing off-on obstacles, using cellular automata. Maltepe Üniversitesi. s. 161.
