Publication:
Waves in isotropic totalistic cellular automata: application to real-time robot navigation

Loading...
Thumbnail Image
Full text at PDC
Publication Date
2016
Advisors (or tutors)
Editors
Journal Title
Journal ISSN
Volume Title
Publisher
World Scientific
Citations
Google Scholar
Research Projects
Organizational Units
Journal Issue
Abstract
Totalistic cellular automata (CA) are an efficient tool for simulating numerous wave phenomena in discrete media. However, their inherent anisotropy often leads to a significant deviation of the model results from experimental data. Here, we propose a computationally efficient isotropic CA with the standard Moore neighborhood. Our model exploits a single postulate: the information transfer in an isotropic medium occurs at constant rate. To fulfill this requirement, we introduce in each cell a local counter keeping track of the distance run by the wave from its source. This allows maintaining the wave velocity constant in all possible directions even in the presence of nonconductive local areas (obstacles) with complex spatial geometry. Then, we illustrate the model on the problem of real-time building of cognitive maps used for navigation of a mobile robot. The isotropic property of the CA helps obtaining "smooth" trajectories and hence natural robot movement. The accuracy and flexibility of the approach are proved experimentally by driving the robot to a target avoiding collisions with obstacles.
Description
Electronic version of an article published as Advances in Complex Systems 19 (2016) 1650012 copyright World Scientific Publishing Company
Keywords
Citation
Collections