Modeling Robot Path Planning with CD++
Robotic systems are usually built as independent agents that collaborate to accomplish a specific task. Analysis of robot path planning consists of route planning and path generation. We will show how to apply the Cell-DEVS formalism and the CD++ toolkit for these tasks. We present a Cell-DEVS model for route planning, which, based on the obstacles, finds different paths available and creates a Voronoi diagram. Then, we show route planning using the Voronoi diagram to determines an optimal path free of collision. Finally, we introduce a Cell-DEVS model that can be applied to the routing of self-reconfigurable robots.
KeywordsShort Path Path Planning Voronoi Diagram Cellular Model Discrete Event System
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