Path planning based on reaction-diffusion process

Abstract

In this paper, we present a novel path planning algorithm based on properties that reaction-diffusion (RD) models exhibit by the underlying non-linear dynamics of the considered system. In particular herein considered a two-variable RD model provides advantages of natural parallelism, noise resistance, and especially the non-annihilating feature that traveling fronts separating two stable states exhibit upon a collision. Based on this, we developed a path planning algorithm that provides paths with lengths competitive to standard path planning approaches. Moreover, the results presented indicates the paths are smoother and also within a safe distance from obstacles; thus, the found paths combine advantages of two fundamental approaches, namely the DT algorithm and Voronoi diagram.