Robot path planning

J. A. Moreno presented a CA-approach to the problem of path planning for a simple robot navigating on a 2-D field. His algorithm consists of three phases:

  1. growing of the obstacles to account for the finite size of the robot.
  2. finding the manhatten distance to the target position for each cell.
  3. labelling the shortest path from the source to the destination.
In this model, the first phase is executed for two time steps, then the second phase for 50 steps, and then the third phase indefinitely. The source description can be found in the file robot.cdl and a simulation is shown below. Please click on "stop" and "reset", then
"run" to restart the simulation.

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