Dynamic Path Planning for Mobile Robots with Cellular Learning Automata
| Main Authors: | Santoso, Judhi; Sekolah Teknik Elektro dan Informatika, Institut Teknologi Bandung Jalan Ganesha 10, Bandung 40132, Indonesia, Riyanto, Bambang; Sekolah Teknik Elektro dan Informatika, Institut Teknologi Bandung Jalan Ganesha 10, Bandung 40132, Indonesia, Adiprawita, Widyawardhana; Sekolah Teknik Elektro dan Informatika, Institut Teknologi Bandung Jalan Ganesha 10, Bandung 40132, Indonesia |
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| Other Authors: | The Ministry of Higher Education of Indonesia |
| Format: | Article info application/pdf eJournal |
| Bahasa: | eng |
| Terbitan: |
ITB Journal Publisher, LPPM ITB
, 2016
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| Subjects: | |
| Online Access: |
http://journals.itb.ac.id/index.php/jictra/article/view/1556 http://journals.itb.ac.id/index.php/jictra/article/view/1556/1181 http://journals.itb.ac.id/index.php/jictra/article/downloadSuppFile/1556/384 |
Daftar Isi:
- 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.