Dynamic Path Planning for Mobile Robots with Cellular Learning Automata
Journal Title: Journal of ICT Research and Applications - Year 2016, Vol 10, Issue 1
Abstract
In this paper we propose a new approach to path planning for mobile robots with cellular automata and cellular learning automata. We divide the planning into two stages. In the first stage, global path planning is performed by cellular automata from an initial position to a goal position. In this stage, the minimum distance is computed. To compute the path, we use a particular two-dimensional cellular automata rule. The process of computation is performed using simple arithmetic operations, hence it can be done efficiently. In the second stage, local planning is used to update the global path. This stage is required to adapt to changes in a dynamic environment. This planning is implemented using cellular learning automata to optimize performance by collecting information from the environment. This approach yields a path that stays near to the obstacles and therefore the total time and distance to the goal can be optimized.
Authors and Affiliations
Judhi Santoso
Keywords
Related Articles
- EP ID EP326345
- DOI 10.5614/itbj.ict.res.appl.2016.10.1.1
- Views 84
- Downloads 0
Hybrid Neural Network and Linear Model for Natural Produce Recognition Using Computer Vision
Natural produce recognition is a classification problem with various applications in the food industry. This paper proposes a natural produce recognition method using computer vision. The proposed method uses simple feat...
Social Media Text Classification by Enhancing Well-Formed Text Trained Model
Social media are a powerful communication tool in our era of digital information. The large amount of user-generated data is a useful novel source of data, even though it is not easy to extract the treasures from this va...
Generic Animation Method for Multi-Objects in IFS Fractal Form
Both non-metamorphic animation and metamorphic animation of objects or multi-objects in IFS fractal form as basic animation method can be implemented by a modified version of the random iteration algorithm as basic algor...
Improvement of Fuzzy Geographically Weighted Clustering-Ant Colony Optimization Performance using Context-Based Clustering and CUDA Parallel Programming
Geo-demographic analysis (GDA) is the study of population characteristics by geographical area. Fuzzy Geographically Weighted Clustering (FGWC) is an effective algorithm used in GDA. Improvement of FGWC has been done by...
Dynamic Path Planning for Mobile Robots with Cellular Learning Automata
In this paper we propose a new approach to path planning for mobile robots with cellular automata and cellular learning automata. We divide the planning into two stages. In the first stage, global path planning is perfor...