The Use of Self-Organizing Cells in Robot Motion Planning
Toshifumi Satake, Akihiro Hayashi and Hiroshi Suzuki
Kyushu Institute of Technology, 680-4, Kawatsu, lizuka, Fukuoka, 820 Japan
Robot motion planning including obstacle avoidance is a necessary technique for realizing autonomous intelligent robots. In this study, a robot motion planning algorithm has been developed by applying the organic mechanisms such as artificial life (AL) and GAs. The proposed concept represents a robot as a combination of several groups composed of a set of cells defined as autonomous elements like a living thing. Robot motion is determined as the result of behavior that individual cells avoid obstacles, and they then organize themselves as forming a geometric shape of component parts of a robot according to the control mechanism given to each cell. This paper describes the preliminary concepts of the Obstacle Avoidance and Self Organization in the proposed methodology for generating collision-free motion of a robot and the details of the developed algorithm based on these concepts. To estimate the effectiveness of the proposed idea, simple case studies of the motion planning for mobile robot have been executed.