Path Planing for Mobile Robot With Cellular Automata

In this paper we propose a n ew approa c h , the robot path planning with cellular automata. The idea is based on maximum clearence technique that preserve s the distance of the robot to obstacles as far as possible. A n existing approach is implemented using voronoi diagram that generates the candidate paths that are safe from collision with the obstacles. In fact, maximum clearence method can be solved analitically using the deformation retraction, but this approach is applicable for the continuous environment only and it requires a lot of function computation. Hence, we solve this problem using a particular rule of cellular automata to perform the process of computation that can be done efficiently. O ur approach is suitable for path planning in a grid-based environtment.