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

  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},
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
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