Waves in isotropic totalistic cellular automata: application to real-time robot navigation



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Calvo, C. and Villacorta-Atienza, José Antonio and Miranov, V.I. and Gallego, V. and Makarov, Valeri A. (2016) Waves in isotropic totalistic cellular automata: application to real-time robot navigation. Advances in Complex Systems, 19 (4-5). p. 1650012. ISSN 0219-5259

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Official URL: http://www.worldscientific.com/doi/abs/10.1142/S0219525916500120?af=R&


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.

Item Type:Article
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Electronic version of an article published as Advances in Complex Systems 19 (2016) 1650012 copyright World Scientific Publishing Company

Uncontrolled Keywords:Cellular automata; Cognitive map; Cognitive navigation
Subjects:Sciences > Mathematics > Functions
ID Code:41621
Deposited On:03 Mar 2017 12:49
Last Modified:27 Sep 2021 17:43

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