An algorithm for robot path planning in environments with flashing off-on obstacles, using cellular automata
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2009
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Maltepe Üniversitesi
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CC0 1.0 Universal
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess
Abstract
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.
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International Conference of Mathematical Sciences
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Citation
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.
