Collision-free path planning for a diamond-shaped robot using two-dimensional cellular automata

@article{Tzionas1997CollisionfreePP,
  title={Collision-free path planning for a diamond-shaped robot using two-dimensional cellular automata},
  author={Panagiotis Tzionas and Adonios Thanailakis and Philippos Tsalides},
  journal={IEEE Trans. Robotics and Automation},
  year={1997},
  volume={13},
  pages={237-250}
}
This paper presents a new parallel algorithm for collision-free path planning of a diamond-shaped robot among arbitrarily shaped obstacles, which are represented as a discrete image, and its implementation in VLSI. The proposed algorithm is based on a retraction of free space onto the Voronoi diagram, which is constructed through the time evolution of cellular automata, after an initial phase during which the boundaries of obstacles are identified and coded with respect to their orientation… CONTINUE READING
Highly Cited
This paper has 91 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 51 extracted citations

Asynchronous Computing of a Discrete Voronoi Diagram on a Cellular Automaton Using 1-Norm: Application to Roadmap Extraction

2014 IEEE 26th International Conference on Tools with Artificial Intelligence • 2014
View 5 Excerpts
Highly Influenced

An improved model based on cellular automata for on-line navigation

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) • 2017
View 3 Excerpts

91 Citations

051015'98'03'09'15
Citations per Year
Semantic Scholar estimates that this publication has 91 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-10 of 34 references

Gross Motion Planning - A Survey

ACM Comput. Surv. • 1992
View 10 Excerpts
Highly Influenced

On the piano movers’ problem: I. The case of a two-dimensional rigid polygonal body moving amidst polygonal barriers,”Commun

J. T. Schwartz, M. Sharir
Pure Appl. Math., vol. 36, • 1983
View 3 Excerpts
Highly Influenced

A new algorithm for 3 - dimensional minimum cost path planning and its VLSI implementation using a 3 - dimensional cellular automata architecture

M. Sharir
Opt . Eng . J . • 1993

Cellular automata based minimum cost path estimation on binary maps

P. Tzionas, P. Tsalides, A. Thanailakis
IEE Electron. Lett.,vol. 28, no. 17, pp. 1653–1654, 1992. • 1992
View 2 Excerpts

Motion Planning

C. J. Latombe, Robot
1991
View 1 Excerpt

Similar Papers

Loading similar papers…