A Dynamic Path Planning with Cellular Automata
Yusuf Can Semerci*
May 2nd, 2013 Engineering Building A-412 15:00

One of the important issues in robotic research is to configure a path to a pre-determined destination. The existing solutions work on captured images of the environment. The images are mainly taken by a camera placed above the environment. With this approach comes an issue that while the robot plans for a path to the destination, it must see the whole environment. However, in reality it is impossible for the robot to see the whole environment. Hence, the approach becomes problematic. In this project we will be working on a novel method for path planning which will be based on the point of view of the robot. There are several ways to represent the environment, but nowadays Cellular Automata is becoming popular for this representation. Cellular Automata is simply a representation of a universal Turing Machine. Cellular Automata represents an environment by dividing it into cells where each cell can be in one of a finite number of states, such as on and off. For each cell, a set of cells called its neighborhood is defined relative to the specified cell. Usually these neighbors are chosen to be the eight cells surrounding a central cell in a two-dimensional square lattice. The environment will consist of two types of obstacles: Stable and Movable. The stable obstacles are the objects that the robot cannot move or pass through. The Movable obstacles are the objects that the robot can move through the environment. The robot will plan a path to the destination with the Cellular Automata and when there is no way to pass obstacles and if at least one of the obstacles is a Movable Obstacle than the robot will move the object in order to clear the path to the destination. This project will focus on path planning for NAO robot with Cellular environment representation. The states of the cells in the Cellular Automata will be representing the positions of the obstacles in the environment.

--------------------------------------------------------------------------------------------*BSc. in Computer Engineering, Yeditepe University

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