4.1 Article

WAVES IN ISOTROPIC TOTALISTIC CELLULAR AUTOMATA: APPLICATION TO REAL-TIME ROBOT NAVIGATION

期刊

ADVANCES IN COMPLEX SYSTEMS
卷 19, 期 4-5, 页码 -

出版社

WORLD SCIENTIFIC PUBL CO PTE LTD
DOI: 10.1142/S0219525916500120

关键词

Cellular automata; cognitive map; cognitive navigation

资金

  1. Russian Science Foundation [15-12-10018]
  2. Russian Science Foundation [15-12-10018] Funding Source: Russian Science Foundation

向作者/读者索取更多资源

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.

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