Research on Robot Path Planning Model Based on Improved Cellular Automata

Research on Robot Path Planning Model Based on Improved Cellular Automata | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Research on Robot Path Planning Model Based on Improved Cellular Automata Xiangming Sun, Yunrui Bi, Yijun Du, Kun Liu, Jinning Hu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6522112/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract This study develops an improved cellular automaton-based path planning model with multi-objective optimization capabilities to address complex navigation challenges in mobile robotics and autonomous parking systems. The cellular automata model has an advantage in dealing with complex environments, and shows better robustness in such environments. Therefore, in order to solve the problem of robot path planning, this paper makes several improvements to the cellular automata model, so that it can be applied to the field of robot path planning.In this study, the motion range of the robot is abstracted into a two-dimensional space grid, the initial state of the cell is defined according to the parameters of the motion chassis, and a conversion rule based on the improved cell automaton is designed according to the requirements of obstacle avoidance and optimal path, it is iterative to find an efficient and safe path to reach the predetermined target point. In order to accurately evaluate the path quality and numerically analyze the path quality, this paper also designs a path quality evaluation formula to evaluate the feasibility, safety and convenience of the planned path. Compared with the traditional evaluation formula, this paper couples the path quality with the feasibility, safety, and convenience indicators, and the calculated values can reflect the comprehensive quality of the three indicators at the same time. The simulation results show that, compared with the traditional path planning model, the robot path planning model based on the improved cellular automata developed in this paper has significant improvement in three indicators: feasibility, safety and convenience. Mobile robot Automatic parking Cellular automata Path planning Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6522112","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":453148607,"identity":"0cdd5377-c8e8-4b34-a652-ef5e06bb758a","order_by":0,"name":"Xiangming Sun","email":"","orcid":"","institution":"Nanjing Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Xiangming","middleName":"","lastName":"Sun","suffix":""},{"id":453148608,"identity":"6b6d5a13-9a56-42ce-8c4e-78913220c52b","order_by":1,"name":"Yunrui Bi","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA0klEQVRIiWNgGAWjYBACA2YIzcPPwJBwAMhgbCBai2QDUMsBorTAGSAriNJizs5jJl2457CM8e2Gh4c/MNjIbjjA/OwBPi2WzUAtM54d5jG7cwDksDTjDQfYzA3waTEAKpbmOQAkbySAtBxO3HCAh02CKC3GM8Ba/pOgxUACrOUAYS2WzWzF1jwH0nkkQA47Y5BsPPMwmxleLeb8hzfe5jlgbc8/Iyf5Q0WFnWzf8eZneLUwMHDAgocnARJNzPjVAwH7AxjjAEG1o2AUjIJRMDIBAONLStCnvRRLAAAAAElFTkSuQmCC","orcid":"","institution":"Nanjing Institute of Technology","correspondingAuthor":true,"prefix":"","firstName":"Yunrui","middleName":"","lastName":"Bi","suffix":""},{"id":453148609,"identity":"7934b8ec-a7f6-41ed-9790-03d097f884dd","order_by":2,"name":"Yijun Du","email":"","orcid":"","institution":"Nanjing Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Yijun","middleName":"","lastName":"Du","suffix":""},{"id":453148610,"identity":"a93ea1ab-f972-4787-8d3d-0918404f2386","order_by":3,"name":"Kun Liu","email":"","orcid":"","institution":"Nanjing Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Kun","middleName":"","lastName":"Liu","suffix":""},{"id":453148611,"identity":"065f66bd-1d7a-4e05-8aa0-c18c90d8cdad","order_by":4,"name":"Jinning Hu","email":"","orcid":"","institution":"Nanjing Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Jinning","middleName":"","lastName":"Hu","suffix":""}],"badges":[],"createdAt":"2025-04-24 15:23:08","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6522112/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6522112/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":94623829,"identity":"9799f368-21f8-46c0-ad63-20c6a963fd62","added_by":"auto","created_at":"2025-10-29 04:20:08","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":2001452,"visible":true,"origin":"","legend":"","description":"","filename":"ResearchonRobotPathPlanningModelBasedonImprovedCellularAutomata.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6522112/v1_covered_3e26b9fc-24ad-4368-bd9c-201dccecb56f.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Research on Robot Path Planning Model Based on Improved Cellular Automata","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Mobile robot, Automatic parking, Cellular automata, Path planning","lastPublishedDoi":"10.21203/rs.3.rs-6522112/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6522112/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"This study develops an improved cellular automaton-based path planning model with multi-objective optimization capabilities to address complex navigation challenges in mobile robotics and autonomous parking systems. The cellular automata model has an advantage in dealing with complex environments, and shows better robustness in such environments. Therefore, in order to solve the problem of robot path planning, this paper makes several improvements to the cellular automata model, so that it can be applied to the field of robot path planning.In this study, the motion range of the robot is abstracted into a two-dimensional space grid, the initial state of the cell is defined according to the parameters of the motion chassis, and a conversion rule based on the improved cell automaton is designed according to the requirements of obstacle avoidance and optimal path, it is iterative to find an efficient and safe path to reach the predetermined target point. In order to accurately evaluate the path quality and numerically analyze the path quality, this paper also designs a path quality evaluation formula to evaluate the feasibility, safety and convenience of the planned path. Compared with the traditional evaluation formula, this paper couples the path quality with the feasibility, safety, and convenience indicators, and the calculated values can reflect the comprehensive quality of the three indicators at the same time. The simulation results show that, compared with the traditional path planning model, the robot path planning model based on the improved cellular automata developed in this paper has significant improvement in three indicators: feasibility, safety and convenience.","manuscriptTitle":"Research on Robot Path Planning Model Based on Improved Cellular Automata","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-05-08 17:18:23","doi":"10.21203/rs.3.rs-6522112/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"dacc80e8-015f-415f-841a-d67313de634b","owner":[],"postedDate":"May 8th, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[],"tags":[],"updatedAt":"2025-10-29T04:19:08+00:00","versionOfRecord":[],"versionCreatedAt":"2025-05-08 17:18:23","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-6522112","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-6522112","identity":"rs-6522112","version":["v1"]},"buildId":"8U1c8b4HqxoKbykW_rLl7","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}