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JRM Vol.6 No.6 pp. 479-484
doi: 10.20965/jrm.1994.p0479
(1994)

Paper:

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

Received:
September 29, 1994
Accepted:
October 16, 1994
Published:
December 20, 1994
Keywords:
Genetic Algorithm, Motion Planning, Intelligent Robot
Abstract

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.

Cite this article as:
T. Satake, A. Hayashi, and H. Suzuki, “The Use of Self-Organizing Cells in Robot Motion Planning,” J. Robot. Mechatron., Vol.6, No.6, pp. 479-484, 1994.
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