By D. E. Rutherford
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Vargas2, and Gina M. B. uk Abstract. Cellular automata (CA) are able to represent high complex phenomena and can be naturally simulated by digital processors due to its intrinsic discrete nature. CA have been recently considered for path planning in autonomous robotics. In this work we started by adapting a model proposed by Ioannidis et al. to deal with scenarios with a single robot, turning it in a more decentralized approach. However, by simulating this model we noticed a problem that prevents the robot to continue on its path and avoid obstacles.
However, a problem always happened when the robot An Improved Cellular Automata-Based Model for Robot Path-Planning 31 faced an obstacle and tried to overcome it by applying the CA deviation rules. The robot got stuck by the combination of rules and imprecise sensor readings, thus rotating in the same axis and not moving forward. This particular problem was named corner deadlock. A sequence of movements illustrating the problem in simulation can be seen in Figure 7 (a-f). The same problem could be observed in the real robot experiment.
On Computational Intelligence, Communication Systems and Networks, pp. 67–71 (2010) 9. : Cellular ANTomata. Paral. and Distributed Processing and Applications, 78–90 (2007) 10. Cyberbotics. com/overview 11. org 12. : A New Architecture to Execute CAs-Based Path-Planning Algorithm in Mobile Robots. In: IEEE Int. Conf. on Mechatronics, pp. 478–482 (2006) 13. : A novel cellular automata based real time path planning method for mobile robots. Int. Journal of Engineering Research and Applications (2011) 14.