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Robot Motion Planning with Parallel 8-directional Array P Systems
Williams Sureshkumar, Sudhakar Murugasen, Narayanan Prasanth, Prithwineel Paul and Gexiang Zhang
In this paper, a novel variant of array P system, i.e., parallel 8-directional array P systems, is introduced. Also, we propose a methodology for moving a robot in a rectangular grid from source to destination without colliding with obstacles. We discuss four cases of robot motion. In the grid, the obstacles can be static as well as dynamic, i.e., the grid can contain (1) fixed number of static obstacles; (2) fixed number of dynamic obstacles moving with constant speed; (3) fixed number of dynamic obstacles with varying speed. We present algorithms for each scenario and show that in cases (1) and (2), the time complexity of the algorithm is ๐ช(๐2) where n is the size of the grid. In case (3), the time complexity of the algorithm is ๐ช(๐2 + ๐) where ๐ is the size of the grid and ๐ is the number of transition steps.
Keywords: Membrane computing, 8-directional array grammar, obstacles, robot motion planning
DOI: 10.32908/ijuc.v21.zhang06