A mobile robot path planning algorithm based on artificial potential field and cellular automata
Zhang Qi-zh · Journal of Beijing Information Science & Technology University · 2014
A path-planning algorithm for an omnidirectional mobile robot is presented based on Cellular Automata(CA) and artificial potential field,and the algorithm has been implemented by a 4-layer cellular automata model.First,an expanded occupancy grid map is constructed so that the mobile robot can be simplified as a point in the planning algorithm.Second,a digital obstacles artificial potential field map is obtained to include the local influence of the obstacles.Then,a distance propagation map is generated by a CA model.Finally,the optimal collision-free path from starting point to goal is extracted by following the minimum valley of the potential hypersurface.The simulation results show that the optimal collision-free paths can be found by the proposed algorithm.The optimal paths are smooth enough and have larger safety distance from the obstacles.So the optimal paths are convenient to track by an omnidirectional mobile robot.