Robotic systems are usually built as independent agents that collaborate to accomplish a specific task. Analysis of robot path planning consists of route planning and path generation. We will show how to apply the Cell-DEVS formalism and the CD++ toolkit for these tasks. We present a Cell-DEVS model for route planning, which, based on the obstacles, finds different paths available and creates a Voronoi diagram. Then, we show route planning using the Voronoi diagram to determines an optimal path free of collision. Finally, we introduce a Cell-DEVS model that can be applied to the routing of self-reconfigurable robots. © Springer-Verlag Berlin Heidelberg 2006.
CITATION STYLE
Wainer, G. (2006). Modeling robot path planning with CD++. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4173 LNCS, pp. 595–604). Springer Verlag. https://doi.org/10.1007/11861201_69
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