Cellular Automata Based Path-Planning Algorithm for Autonomous Mobile Robots

Authors:	Gulrez Tauseef, University of Tech. Sydney, Australia Al-Hmouz Rami, University of Tech. Sydney, Australia Al-Jumaily Adel, University of Tech. Sydney, Australia
Topic:	4.3 Robotics
Session:	Robot Control I
Keywords:	Robot Path Planning

Abstract

Cellular Automata (CA) model is a powerful instrument used in many applications. This paper presents the application of CA model in solving the problem of path planning. It is shown that a CA allows the efficient computation of a path from an initial to a goal configuration on a physical space cluttered with obstacles. The cellular space represents a discrete version of the workspace, the path computation is performed by the successive application of two simple local transition rules. The method was experimentally tested on an autonomous mobile robot on real-time software player/stage, in all cases very good paths were obtained with negligible computer effort. These simulation results indicate that the Cellular Automata approach is a very promising method for real time path planning.