Abstract
Bio-inspired techniques have been successfully applied to the path-planning problem. Amongst those techniques, Cellular Automata (CA) have been seen a potential alternative due to its decentralized structure and low computational cost. In this work, an improved CA model is implemented and evaluated both in simulation and real environments using the e-puck robot. The objective was to construct a collision-free path plan from the robot initial position to the target position by applying the refined CA model and environment pre-processed images captured during its navigation. The simulations and real experiments show promising results on the model performance for a single robot.
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Acknowledgment
The authors thank FAPEMIG, CAPES and CNPq for the financial support, and Hugo Sardinha for their assistance in formatting of the paper.
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Martins, L.G.A., Cândido, R.d.P., Escarpinati, M.C., Vargas, P.A., de Oliveira, G.M.B. (2018). An Improved Robot Path Planning Model Using Cellular Automata. In: Giuliani, M., Assaf, T., Giannaccini, M. (eds) Towards Autonomous Robotic Systems. TAROS 2018. Lecture Notes in Computer Science(), vol 10965. Springer, Cham. https://doi.org/10.1007/978-3-319-96728-8_16
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