Mobile Robot Path Planning Based on Cellular Automata

摘要

In order to solve the existence question of the global optimal path planning for mobile robots,one kind of the path planning algorithm was proposed based on the cellular automaton.Firstly,the mobile robot space environment was established,mobile robot start,end,obstacles and free path was defined as a set of discrete cellular.Secondly,a cellular state evolution a rule was designed,the optimal path search method was determined according to the evolution of cellular state.Finally,the simulation experiments showed that the algorithm could be effective for path planning in the simple and complex environment.The algorithm was simple,fast,high and efficiency.