The aim of this paper is to describe the architecture of a Path Planner for Mobile Robots based on the paradigm of Cellular Automata. This path planner is very flexible, handling robots with quite different kinematics (omnidirectional, car-like, asymmetrical, etc.), with generic shapes (even with concavities and holes) and with generic cinematic centers locations. It can be applied to flat (Euclidean) Work Space and to natural variable terrains. Thanks to this architecture based a Potential Fields Method, it turns out to be very fast, complete and optimal, allowing to react to the world dynamics (reactive planning), generating new optimal solutions every time the obstacles positions changes.
展开▼
